From: Walter Fetter Lages Date: Tue, 22 May 2018 14:25:19 +0000 (-0300) Subject: Change processor to dsPIC30F4012 and MOSFET driver to MAX5062. X-Git-Tag: v2.0.0^0 X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=9ed8de9760f62f2fbe258a55bfb6e78d3bc49351;p=aic.git Change processor to dsPIC30F4012 and MOSFET driver to MAX5062. --- diff --git a/AICOff/AICOff.java b/AICOff/AICOff.java deleted file mode 100644 index 7ae280a..0000000 --- a/AICOff/AICOff.java +++ /dev/null @@ -1,41 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Off - Copyright (C) 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import br.ufrgs.ece.AIC.*; - -class AICOff -{ - static final int BASE=0x800000; - static AIC aic; - - public static void main(String[] args) - { - System.out.println("AIC Off"); - System.out.println("Copyright (C) Walter Fetter Lages, 2003.\n"); - - aic=new AIC(BASE,24.0,20e3,2000); - aic.off(); - } -} diff --git a/AICOff/Makefile b/AICOff/Makefile deleted file mode 100644 index 0392a58..0000000 --- a/AICOff/Makefile +++ /dev/null @@ -1,16 +0,0 @@ -all: AICOff.tini - -AICOff.class: AICOff.java ../lib/AIC.jar - javac ${JAVAFLAGS} ${CLASSPATH} AICOff.java - -AICOff.tini: AICOff.class ../lib/AIC.jar - java ${CLASSPATH} TINIConvertor -f AICOff.class ${APIDBPATH} ${NATLIB} -o AICOff.tini ${LIBPATH} - -clean: - rm -f *.bak *~ *.class - -distclean: clean - rm -f AICOff.tini - -upload: AICOff.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done diff --git a/BrakeRtTest/BrakeRtTest.java b/BrakeRtTest/BrakeRtTest.java deleted file mode 100644 index 990f0ff..0000000 --- a/BrakeRtTest/BrakeRtTest.java +++ /dev/null @@ -1,74 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Brake Real Time Test - User Interface Module - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import com.dalsemi.system.*; - -public class BrakeRtTest -{ - public static native int startRealtime(int period); - public static native void stopRealtime(); - - public static void main(String[] args) - { - System.out.println("BrakeRtTest"); - System.out.println("Copyright (C) Walter Fetter Lages, 2005.\n"); - - int tfms=0; - if(args.length==1) - { - tfms=Integer.parseInt(args[0]); - } - else - { - System.out.println("Usage:\tBrakeRtTest ms"); - System.exit(1); - } - - System.out.print("Loading native library..."); - System.loadLibrary("braketest.tlib"); - System.out.println("done."); - - int us=10000; - System.out.print("Starting real-time timer with "+us+" us period..."); - int period=startRealtime(us); - System.out.println("done."); - System.out.println("Effective period: "+period+" us."); - - System.out.println("Running BrakeRtTest for "+tfms+" ms..."); - long t0=TINIOS.uptimeMillis(); - long t=0; - while(t <= tfms) - { - t=TINIOS.uptimeMillis()-t0; - System.out.print("t="+t+"ms "); - } - System.out.println("...done."); - - System.out.print("Stoping real-time timer..."); - stopRealtime(); - System.out.println("done."); - } -} diff --git a/BrakeRtTest/Makefile b/BrakeRtTest/Makefile deleted file mode 100644 index 9e8cbc0..0000000 --- a/BrakeRtTest/Makefile +++ /dev/null @@ -1,30 +0,0 @@ -all: BrakeRtTest.tini - -BrakeRtTest.class: BrakeRtTest.java - ${JAVAC} ${CLASSPATH} ${JAVAFLAGS} BrakeRtTest.java - -braketest.mpp: braketest.a51 - ${ASMMACRO} -I${ASMINC} -e- braketest.a51 - -braketest.tlib: braketest.mpp ../lib/aicio.mpp.lib - cat braketest.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp - echo end >> tmp.mpp - ${ASM} ${ASMOPT} tmp.mpp - mv tmp.tlib braketest.tlib - mv tmp.lst braketest.lst - -braketest.a51: braketest.c - ${SDCC} ${SDCCCMPFLAGS} braketest.c - -BrakeRtTest.tini: BrakeRtTest.class braketest.tlib - java ${CLASSPATH} TINIConvertor -n braketest.tlib -f BrakeRtTest.class ${APIDBPATH} -o BrakeRtTest.tini - - -clean: - rm -f *.bak *~ BrakeRtTest.class braketest.tlib braketest.mpp braketest.lst braketest.a51 globals.mpp tmp.mpp tmp.lst - -distclean: clean - rm -f BrakeRtTest.tini - -upload: BrakeRtTest.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done diff --git a/BrakeRtTest/braketest.c b/BrakeRtTest/braketest.c deleted file mode 100644 index 504b23a..0000000 --- a/BrakeRtTest/braketest.c +++ /dev/null @@ -1,82 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Brake Real Time Test - Real Time Module - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include -#include - -#include - -#define BASE 0x800000 - -extern volatile pthread_t th; - -void braketest_globals(void) _naked -{ - _asm -th: db 0,0,0,0 -braketest_time_1_1: db 0,0,0,0 - _endasm; -} - - -void *braketest(void *arg) -{ - static int time=0; - - if(time) brake_apply(); else brake_release(); - time=~time; - - return NULL; -} - - -/* public static native int startRealtime(int period) */ -long Native_startRealtime(void) _JavaNative -{ - volatile long period=NatLib_LoadInt(0); - start_rt_timer(micro2count(period)); - pthread_create(&th,NULL,braketest,NULL); - - brake_initialize(BASE); - - _asm - clr a - _endasm; - - return period; -} - -/* public static native void stopRealtime() */ -void Native_stopRealtime(void) _JavaNative -{ - pthread_cancel(th); - stop_rt_timer(); - - _asm - clr a - _endasm; -} - diff --git a/BrakeRtTest/globals.a51 b/BrakeRtTest/globals.a51 deleted file mode 100644 index 6f467aa..0000000 --- a/BrakeRtTest/globals.a51 +++ /dev/null @@ -1,30 +0,0 @@ -;****************************************************************************** -; -; Actuator Interface Card -; Brake Real Time Test -; Real Time Module Global Variables -; Copyright (C) 2005 Walter Fetter Lages -; -; This program is free software; you can redistribute it and/or modify -; it under the terms of the GNU General Public License as published by -; the Free Software Foundation; either version 2 of the License, or -; (at your option) any later version. -; -; This program is distributed in the hope that it will be useful, -; but WITHOUT ANY WARRANTY; without even the implied warranty of -; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -; GNU General Public License for more details. -; -; You should have received a copy of the GNU General Public License -; along with this program; if not, write to the Free Software -; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. -; -; You can also obtain a copy of the GNU General Public License -; at . -; -;*******************************************************************************/ - - -braketest_time_1_1: db 0,0,0,0 -th: db 0,0,0,0 - end diff --git a/BrakeTest/BrakeApply.java b/BrakeTest/BrakeApply.java deleted file mode 100644 index a77cb19..0000000 --- a/BrakeTest/BrakeApply.java +++ /dev/null @@ -1,43 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Brake Apply - Copyright (C) 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import br.ufrgs.ece.AIC.*; - -class BrakeApply -{ - static final int BASE=0x800000; - - static AIC aic; - - public static void main(String[] args) - { - System.out.println("AIC Brake Apply"); - System.out.println("Copyright (C) Walter Fetter Lages, 2004.\n"); - - aic=new AIC(BASE,24.0,20e3,2000); - - aic.brake.apply(); - } -} diff --git a/BrakeTest/BrakeRelease.java b/BrakeTest/BrakeRelease.java deleted file mode 100644 index 7de90f4..0000000 --- a/BrakeTest/BrakeRelease.java +++ /dev/null @@ -1,43 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Brake Release - Copyright (C) 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import br.ufrgs.ece.AIC.*; - -class BrakeRelease -{ - static final int BASE=0x800000; - - static AIC aic; - - public static void main(String[] args) - { - System.out.println("AIC Brake Release"); - System.out.println("Copyright (C) Walter Fetter Lages, 2004.\n"); - - aic=new AIC(BASE,24.0,20e3,2000); - - aic.brake.release(); - } -} diff --git a/BrakeTest/BrakeTest.java b/BrakeTest/BrakeTest.java deleted file mode 100644 index ff0e365..0000000 --- a/BrakeTest/BrakeTest.java +++ /dev/null @@ -1,65 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Brake Test - Copyright (C) 2002...2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import br.ufrgs.ece.AIC.*; -import com.dalsemi.system.*; -import java.lang.Math.*; - -class BrakeTest -{ - static final int BASE=0x800000; - static final int ST=1000; - - static AIC aic; - - private static void delay(int ms) - { - long time=TINIOS.uptimeMillis(); - while(TINIOS.uptimeMillis() < time+ms); - } - - public static void main(String[] args) - { - int i; - boolean run=true; - - System.out.println("AIC Brake Test Program"); - System.out.println("Copyright (C) Walter Fetter Lages, 2002...2004.\n"); - - aic=new AIC(BASE,24.0,20e3,2000); - aic.on(); - - while(run) - { - aic.brake.release(); - System.out.println("Brake released"); - delay(ST); - aic.brake.apply(); - System.out.println("Brake applied"); - delay(ST); - } - aic.off(); - } -} diff --git a/BrakeTest/Makefile b/BrakeTest/Makefile deleted file mode 100644 index e886966..0000000 --- a/BrakeTest/Makefile +++ /dev/null @@ -1,28 +0,0 @@ -all: BrakeTest.tini BrakeApply.tini BrakeRelease.tini - -BrakeTest.class: BrakeTest.java ../lib/AIC.jar - javac ${JAVAFLAGS} ${CLASSPATH} BrakeTest.java - -BrakeTest.tini: BrakeTest.class ../lib/AIC.jar - java ${CLASSPATH} TINIConvertor -f BrakeTest.class ${APIDBPATH} ${NATLIB} -o BrakeTest.tini ${LIBPATH} - -BrakeApply.class: BrakeApply.java ../lib/AIC.jar - javac ${JAVAFLAGS} ${CLASSPATH} BrakeApply.java - -BrakeApply.tini: BrakeApply.class ../lib/AIC.jar - java ${CLASSPATH} TINIConvertor -f BrakeApply.class ${APIDBPATH} ${NATLIB} -o BrakeApply.tini ${LIBPATH} - -BrakeRelease.class: BrakeRelease.java ../lib/AIC.jar - javac ${JAVAFLAGS} ${CLASSPATH} BrakeRelease.java - -BrakeRelease.tini: BrakeRelease.class ../lib/AIC.jar - java ${CLASSPATH} TINIConvertor -f BrakeRelease.class ${APIDBPATH} ${NATLIB} -o BrakeRelease.tini ${LIBPATH} - -clean: - rm -f *.bak *~ BrakeTest.class BrakeApply.class BrakeRelease.class - -distclean: clean - rm -f BrakeTest.tini BrakeApply.tini BrakeRelease.tini - -upload: BrakeTest.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done diff --git a/CANTest/CANRx.java b/CANTest/CANRx.java deleted file mode 100644 index 9270ed8..0000000 --- a/CANTest/CANRx.java +++ /dev/null @@ -1,124 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - CAN Receive Test - Copyright (C) 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import com.dalsemi.comm.*; -import com.dalsemi.system.*; - -public class CANRx -{ - /* 125Kbit/s with crystal of 18.432MHz */ - static final int CAN_DIVISOR = 7; - static final int CAN_TSEG1 = 13; - static final int CAN_TSEG2 = 7; - static final int CAN_SJW = 1; - static final byte CANBUSNUM = CanBus.CANBUS0; -// static final byte CANBUSNUM = CanBus.CANBUS1; - - static void dumpFrame(CanFrame frame) - { - System.out.println("ID: "+Integer.toHexString(frame.ID)); - if (frame.extendedID) - System.out.println("Extended ID"); - else - System.out.println("Standard ID"); - if (frame.remoteFrameRequest) - System.out.println("Remote Frame"); - else - System.out.println("Data Frame"); - System.out.println("Length: "+frame.length); - for (int i = 0;i < frame.length;i++) - System.out.print(Integer.toHexString(frame.data[i] & 0xFF)+" "); - System.out.println(); - } - - static final boolean dopassive = false; - - static void main(String args[]) - { - try - { - System.out.println("CAN Receive Test"); - - final int DUMPCOUNT = 1; - long start,stop; - - CanBus a = new CanBus(CANBUSNUM); - a.setBaudRatePrescaler(CAN_DIVISOR); - a.setTSEG1(CAN_TSEG1); - a.setTSEG2(CAN_TSEG2); - a.setSynchronizationJumpWidth(CAN_SJW); - -// a.setReceiveQueueLimit(1); -// a.setTransmitQueueLimit(1); - System.out.println("Frames available to read: "+a.receiveFramesAvailable()); - - // Now, we tell the CAN Controller to jump on the bus. - if (dopassive) - { - System.out.println("Enabling passive receive"); - a.enableControllerPassive(); - } - else - { - System.out.println("Enabling regular receive"); - a.enableController(); - } - - // Set message center one to receive - a.setMessageCenterRXMode(1); - // Set message center one to not use mask filtering - a.setMessageCenterMessageIDMaskEnable(1,false); - // Set message center one to match this 11 bit id - a.set11BitMessageCenterArbitrationID(1,0x69); - // Set message center one to allow reception of messages. - a.enableMessageCenter(1); - - // Create the frame for recieve() to fill - CanFrame frame = new CanFrame(); - - for(int count=0;count <= 100;count++) - { - System.out.println("count=" +count); - - // Block waiting on a frame reception. - a.receive(frame); - - for (int i = 0;i < frame.length;i++) - System.out.print(Integer.toHexString(frame.data[i] & 0xFF)+" "); - System.out.println(); -// dumpFrame(frame); - - } - a.close(); - - System.out.println("Normal Exit"); - } - catch (Throwable e) - { - System.out.println("Exception"); - System.out.println(e); - } - } -} diff --git a/CANTest/CANRx.upload b/CANTest/CANRx.upload deleted file mode 100644 index 8acffd0..0000000 --- a/CANTest/CANRx.upload +++ /dev/null @@ -1,3 +0,0 @@ -bin -put CANRx.tini -quit diff --git a/CANTest/CANTx.java b/CANTest/CANTx.java deleted file mode 100644 index 5bc12dc..0000000 --- a/CANTest/CANTx.java +++ /dev/null @@ -1,84 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - CAN Transmit Test - Copyright (C) 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import com.dalsemi.comm.*; -import com.dalsemi.system.*; - -public class CANTx -{ - /* 125Kbit/s with crystal of 18.432MHz */ - static final int CAN_DIVISOR = 7; - static final int CAN_TSEG1 = 13; - static final int CAN_TSEG2 = 7; - static final int CAN_SJW = 1; - static final byte CANBUSNUM = CanBus.CANBUS0; -// static final byte CANBUSNUM = CanBus.CANBUS1; - - static void main(String args[]) - { - try - { - System.out.println("CAN Transmit Test"); - - CanBus a = new CanBus(CANBUSNUM); - a.setBaudRatePrescaler(CAN_DIVISOR); - a.setTSEG1(CAN_TSEG1); - a.setTSEG2(CAN_TSEG2); - a.setSynchronizationJumpWidth(CAN_SJW); - - // Now, we tell the CAN Controller to jump on the bus. - a.enableController(); - - // Set message center one to transmit. This allows any outgoing messages - // to use this register. - a.setMessageCenterTXMode(1); - - byte[] temp = new byte[8]; - - temp[0] = (byte)0xAA; - temp[1] = 0x55; - - for(int count=0;count <= 100;count++) - { - System.out.println("Count=" + count); - temp[2] = (byte)count; - temp[3] = (byte)(count >> 8); - - // Send a frame using standard (11 bit) ID, block until frame is ACKed - a.sendDataFrame(0x69, false, temp); - Thread.sleep(300); - - } - a.close(); - - System.out.println("Normal Exit"); - } - catch (Throwable e) - { - System.out.println("Exception"); - System.out.println(e); - } - } -} diff --git a/CANTest/CANTx.upload b/CANTest/CANTx.upload deleted file mode 100644 index 3bfd9ee..0000000 --- a/CANTest/CANTx.upload +++ /dev/null @@ -1,3 +0,0 @@ -bin -put CANTx.tini -quit diff --git a/CANTest/Makefile b/CANTest/Makefile deleted file mode 100644 index 9d9ad29..0000000 --- a/CANTest/Makefile +++ /dev/null @@ -1,22 +0,0 @@ -all: CANRx.tini CANTx.tini - -CANRx.class: CANRx.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} CANRx.java - -CANRx.tini: CANRx.class - java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f CANRx.class ${APIDBPATH} -o CANRx.tini ${LIBPATH} - -CANTx.class: CANTx.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} CANTx.java - -CANTx.tini: CANTx.class - java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f CANTx.class ${APIDBPATH} -o CANTx.tini ${LIBPATH} - -clean: - rm -f *.bak *~ CANRx.class CANTx.class - -distclean: clean - rm -f CANRx.tini CANTx.tini - -upload: CANRx.tini CANTx.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done diff --git a/CANTest/upload.ftp b/CANTest/upload.ftp deleted file mode 100644 index 3b3b580..0000000 --- a/CANTest/upload.ftp +++ /dev/null @@ -1,4 +0,0 @@ -bin -put CANRx.tini -put CANTx.tini -quit diff --git a/Changes b/Changes index 1630c05..bba6b55 100644 --- a/Changes +++ b/Changes @@ -1,3 +1,5 @@ +2006.06.11 Inicio do projeto aic-2.0.0 + 2008.02.15 Incluido destrutor virtual na classe AIC_COMM. Alterada a implementacao da serializacao de valores double @@ -32,6 +34,7 @@ Criada a versao 1.6.1 + 2006.02.24 Incluidos os esquematicos e o layout do PCB no arquivo de documentacao em pdf. diff --git a/CmdDaemon/CmdDaemon.java b/CmdDaemon/CmdDaemon.java deleted file mode 100644 index b5d1f27..0000000 --- a/CmdDaemon/CmdDaemon.java +++ /dev/null @@ -1,192 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Command Daemon - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import br.ufrgs.ece.AIC.*; -import com.dalsemi.comm.*; -import com.dalsemi.system.*; -import java.io.*; -import java.lang.*; - -class CmdDaemon extends Thread -{ - static final int BASE=0x800000; - - static AIC aic; - static Host host; - static boolean debug=false; - static boolean udp=false; - static boolean help=false; - - public static void main(String[] args) throws IOException,CanBusException - { - int i; - int hostarg=0; - - System.out.println("AIC Command Daemon"); - System.out.println("Copyright (C) 2005 Walter Fetter Lages .\n"); - - switch(args.length) - { - case 0: - { - help=true; - break; - } - case 1: - { - if(args[0].equals("-debug") || - args[0].equals("-UDP")) help=true; - break; - } - case 2: - { - hostarg=1; - if(args[0].equals("-debug")) debug=true; - else help=true; - break; - } - case 3: - { - hostarg=1; - if(args[0].equals("-UDP")) udp=true; - else help=true; - break; - } - case 4: - { - hostarg=2; - if(args[0].equals("-debug")) debug=true; - else help=true; - if(args[1].equals("-UDP")) udp=true; - else help=true; - break; - } - default: - { - help=true; - } - } - - - if(help) - { - System.out.println("Usage:\tjava CmdDaemon.tini [-debug] aic_id"); - System.out.println("\tor"); - System.out.println("\tjava CmdDaemon.tini [-debug] -UDP controller_host status_port"); - System.exit(1); - } - try - { - aic=new AIC(BASE,24.0,20e3,2000); - if(udp) host=new HostUDP(args[hostarg],Integer.parseInt(args[hostarg+1])); - else host=new HostCAN(Integer.parseInt(args[hostarg])); - - GetCommand getCommand=new GetCommand(); - getCommand.setPriority(Thread.MAX_PRIORITY); - getCommand.start(); - - if(debug) System.out.println("getCommand priority="+getCommand.getPriority()); - } - catch (NumberFormatException nfe) - { - System.out.println("Usage: java CmdDaemon.tini [-debug] [-UDP controller_host port] | aicid"); - System.exit(1); - } - } -} - - -class GetCommand extends CmdDaemon -{ - public void run() - { - try - { - aic.on(); - aic.brake.release(); - - for(int k=0;;k++) - { - if(debug) System.out.print("k="+k+"\t"); - - int cmd=host.command(); - - if(debug) System.out.print("Command="+ cmd +"\t"); - - switch(cmd) - { - case Host.MOTOR_ON: - { - if(debug) System.out.print("Motor on\t"); - aic.motor.on(); - break; - } - case Host.MOTOR_OFF: - { - if(debug) System.out.print("Motor off\t"); - aic.motor.off(); - break; - } - case Host.MOTOR_ACT: - { - if(debug) System.out.print("Voltage="+host.voltage()+"\t"); - aic.motor.set(host.voltage()); - break; - } - case Host.BRAKE_RELEASE: - { - if(debug) System.out.print("Brake release\t"); - aic.brake.release(); - break; - } - case Host.BRAKE_APPLY: - { - if(debug) System.out.print("Brake apply\t"); - aic.brake.apply(); - break; - } -/* case Host.RESET: - { - if(debug) System.out.print("Reset\t"); - aic.reset(); - break; - } -*/ - default: - { - if(debug) System.out.print("Invalid\t"); - break; - } - - } - if(debug) System.out.println(""); - } - } - catch (Exception all) - { - all.printStackTrace(); - } - } -} diff --git a/CmdDaemon/Makefile b/CmdDaemon/Makefile deleted file mode 100644 index 002d03d..0000000 --- a/CmdDaemon/Makefile +++ /dev/null @@ -1,16 +0,0 @@ -all: CmdDaemon.tini - -CmdDaemon.class: CmdDaemon.java ../lib/AIC.jar - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} CmdDaemon.java - -CmdDaemon.tini: CmdDaemon.class ../lib/AIC.jar - java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f CmdDaemon.class ${APIDBPATH} -o CmdDaemon.tini ${LIBPATH} ${NATLIB} - -clean: - rm -f *.bak *~ *.class - -distclean: clean - rm -f CmdDaemon.tini - -upload: CmdDaemon.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done \ No newline at end of file diff --git a/DoorDaemon/DoorDaemon.java b/DoorDaemon/DoorDaemon.java deleted file mode 100644 index bdaace1..0000000 --- a/DoorDaemon/DoorDaemon.java +++ /dev/null @@ -1,140 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Door Daemon - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import br.ufrgs.ece.AIC.*; -import com.dalsemi.system.*; -import com.dalsemi.tininet.*; -import java.net.*; - -class DoorDaemon extends Thread -{ - private static final int BASE=0x800000; - private static final int DD_PORT=9880; - - private TINIDatagramSocket ddsock; - - static AIC aic; - - public static void main(String[] args) - { - int i; - int hostarg=0; - - System.out.println("AIC Door Daemon"); - System.out.println("Copyright (C) 2005 Walter Fetter Lages .\n"); - - try - { - aic=new AIC(BASE,24.0,20e3,2000); - - TINIDatagramSocket ddsock=new TINIDatagramSocket(DD_PORT); - - byte[] buff= new byte[256]; - DatagramPacket p=new DatagramPacket(buff,256); - - byte[] rmadd= new byte[18]; - - for(;;) - { - - ddsock.receive(p,rmadd,0); - - Chap chap=new Chap(rmadd); - chap.start(); - sleep(1000); - chap.stop(); - } - } - catch (Exception all) - { - all.printStackTrace(); - } - } -} - - -class Chap extends DoorDaemon -{ - // socket for transmitting challenge - private TINIDatagramSocket chsock; - private InetAddress chaddr; - private int chport; - - public Chap(byte[] rmadd) - { - try - { - chsock=new TINIDatagramSocket(); - int chip=(((int)rmadd[12]) << 24) | (((int)rmadd[13]) << 16) | (((int)rmadd[14]) << 8) | (int)rmadd[15]; - chaddr=InetAddress.getByName(rmadd[12]+"."+rmadd[13]+"."+rmadd[14]+"."+rmadd[15]); - chport=(((int)rmadd[16]) << 8) | (int)rmadd[17]; - } - catch (Exception all) - { - all.printStackTrace(); - } - } - - public void run() - { - int challenge=Security.getRandom(); - byte[] chbuff=new byte[4]; - - byte[] passwd="abcd".getBytes(); - - for(int i=0;i < 4;i++) - { - chbuff[i]=(byte)((challenge >> (8*i)) & 0xff); - passwd[i]=(byte)(chbuff[i] ^ passwd[i]); - } - byte[] hash=Security.hashMessage(passwd); - - try - { - DatagramPacket chp=new DatagramPacket(chbuff,4,chaddr,chport); - chsock.send(chp); - - byte[] respbuff= new byte[256]; - DatagramPacket respp=new DatagramPacket(respbuff,256); - - chsock.receive(respp); - - if(respbuff==hash) - { - aic.on(); - aic.brake.release(); - sleep(1000); - aic.brake.apply(); - aic.off(); - } - } - catch (Exception all) - { - all.printStackTrace(); - } - } -} - - diff --git a/DoorDaemon/Makefile b/DoorDaemon/Makefile deleted file mode 100644 index 7171888..0000000 --- a/DoorDaemon/Makefile +++ /dev/null @@ -1,16 +0,0 @@ -all: DoorDaemon.tini - -DoorDaemon.class: DoorDaemon.java ../lib/AIC.jar - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} DoorDaemon.java - -DoorDaemon.tini: DoorDaemon.class ../lib/AIC.jar - java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f DoorDaemon.class ${APIDBPATH} -o DoorDaemon.tini ${LIBPATH} ${NATLIB} - -clean: - rm -f *.bak *~ *.class - -distclean: clean - rm -f DoorDaemon.tini - -upload: DoorDaemon.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done \ No newline at end of file diff --git a/DoorOpen/DoorOpen.java b/DoorOpen/DoorOpen.java deleted file mode 100644 index f55edff..0000000 --- a/DoorOpen/DoorOpen.java +++ /dev/null @@ -1,62 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Door Open - Copyright (C) 2006 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import br.ufrgs.ece.AIC.*; -import com.dalsemi.system.*; -import java.lang.Math.*; - -class DoorOpen -{ - static final int BASE=0x800000; - static final int ST=1000; - - static AIC aic; - - private static void delay(int ms) - { - long time=TINIOS.uptimeMillis(); - while(TINIOS.uptimeMillis() < time+ms); - } - - public static void main(String[] args) - { - int i; - - -// System.out.println("AIC Door Open"); -// System.out.println("Copyright (C) Walter Fetter Lages, 2006.\n"); - - aic=new AIC(BASE,24.0,20e3,2000); -// aic.on(); - - aic.brake.release(); - System.out.print("Door open..."); - delay(ST); - aic.brake.apply(); - System.out.println("closed"); - -// aic.off(); - } -} diff --git a/DoorOpen/Makefile b/DoorOpen/Makefile deleted file mode 100644 index 2876349..0000000 --- a/DoorOpen/Makefile +++ /dev/null @@ -1,16 +0,0 @@ -all: DoorOpen.tini - -DoorOpen.class: DoorOpen.java ../lib/AIC.jar - javac ${JAVAFLAGS} ${CLASSPATH} DoorOpen.java - -DoorOpen.tini: DoorOpen.class ../lib/AIC.jar - java ${CLASSPATH} TINIConvertor -f DoorOpen.class ${APIDBPATH} ${NATLIB} -o DoorOpen.tini ${LIBPATH} - -clean: - rm -f *.bak *~ DoorOpen.class - -distclean: clean - rm -f DoorOpen.tini - -upload: DoorOpen.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done diff --git a/DoorWeb/DoorHandler.java b/DoorWeb/DoorHandler.java deleted file mode 100644 index d65611e..0000000 --- a/DoorWeb/DoorHandler.java +++ /dev/null @@ -1,94 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Door Post Handler - - Copyright (C) 2006 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ -import br.ufrgs.ece.AIC.*; -import java.io.*; -import java.lang.*; -import java.util.*; -import com.dalsemi.tininet.http.*; -import com.dalsemi.system.*; - -public class DoorHandler implements PostScript -{ - static final int BASE=0x800000; - static AIC aic; - static boolean first=true; - - private static void delay(int ms) - { - long time=TINIOS.uptimeMillis(); - while(TINIOS.uptimeMillis() < time+ms); - } - - /** - * This method handles all responses to the the HTTP POST - * - * @param data - a Vector of PostElements holding all supplied fields and Values in pairs - * @param out - an Output Stream to the client socket - * @param work - HTTPWorker contains utility functions used to URL encode our response - * @throws IOException if an IO error occurs - */ - - public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException - { - if(first) - { - aic=new AIC(BASE,24.0,20e3,2000); - first=false; - } - - // Response page - - // HTML headers - StringBuffer strBuff=new StringBuffer("\r\n" - + "\r\n" - + "Door Control\r\n" - + "

Door Control

\r\n"); - - PostElement passwd = (PostElement)data.elementAt(0); - - if(passwd.value.equals("Password")) - { - aic.brake.release(); - strBuff.append("
Door Open.\r\n"); - } - else - { - strBuff.append("
Sorry!\r\n"); - } - - // Use HTTPWorker's encode body function to generate the URL encoded response - out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length())); - - // Send out the bytes of our response page - out.write(strBuff.toString().getBytes()); - - // Ensure that our data is written imediatly - out.flush(); - - delay(2000); - aic.brake.apply(); - } -} diff --git a/DoorWeb/DoorWeb.java b/DoorWeb/DoorWeb.java deleted file mode 100644 index c4dc1ba..0000000 --- a/DoorWeb/DoorWeb.java +++ /dev/null @@ -1,58 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Door Web Server - Copyright (C) 2006 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import com.dalsemi.tininet.http.HTTPServer; -import com.dalsemi.tininet.http.HTTPServerException; - -class DoorWeb -{ - static Object lock; - - public static void main(String[] args) - { - System.out.println("Door Web Server"); - System.out.println("Copyright (C) 2006 Walter Fetter Lages .\n"); - - HTTPServer httpd=new HTTPServer(80); - httpd.setHTTPRoot("/html"); - httpd.setIndexPage("index.html"); - httpd.setLogFilename("/log/DoorWeb.txt"); - httpd.setLogging(true); - - System.out.println("Door web server running..."); - - while (true) - { - try - { - httpd.serviceRequests(); - } - catch (HTTPServerException e) - { - System.out.println("Error occured while servicing requests: " + e.getMessage()); - } - } - } -} diff --git a/DoorWeb/Makefile b/DoorWeb/Makefile deleted file mode 100644 index 392361b..0000000 --- a/DoorWeb/Makefile +++ /dev/null @@ -1,22 +0,0 @@ -DEPNAME:=-add HTTPSERVER - -all: DoorWeb.tini - -DoorWeb.class: DoorWeb.java ../lib/AIC.jar - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $< - -DoorHandler.class: DoorHandler.java ../lib/AIC.jar - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $< - -DoorWeb.tini: DoorWeb.class DoorHandler.class ../lib/AIC.jar - java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f DoorHandler.class -f DoorWeb.class -o $@ ${LIBPATH} ${NATLIB} ${APIDBPATH} - -clean: - rm -f *.bak *~ *.class - -distclean: clean - rm -f DoorWeb.tini - -upload: DoorWeb.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done - \ No newline at end of file diff --git a/DoorWeb/closed.jpg b/DoorWeb/closed.jpg deleted file mode 100644 index 9ee07e2..0000000 Binary files a/DoorWeb/closed.jpg and /dev/null differ diff --git a/DoorWeb/closed1.jpg b/DoorWeb/closed1.jpg deleted file mode 100644 index 7b164e5..0000000 Binary files a/DoorWeb/closed1.jpg and /dev/null differ diff --git a/DoorWeb/closed2.jpg b/DoorWeb/closed2.jpg deleted file mode 100644 index fdf7681..0000000 Binary files a/DoorWeb/closed2.jpg and /dev/null differ diff --git a/DoorWeb/index.html b/DoorWeb/index.html deleted file mode 100644 index 44b6c8b..0000000 --- a/DoorWeb/index.html +++ /dev/null @@ -1,16 +0,0 @@ - - - -Door Control - - -
-

Door Control

-
-
-Password: - -
-
- - diff --git a/DoorWeb/open.jpg b/DoorWeb/open.jpg deleted file mode 100644 index 3fd2852..0000000 Binary files a/DoorWeb/open.jpg and /dev/null differ diff --git a/DoorWeb/open1.jpg b/DoorWeb/open1.jpg deleted file mode 100644 index 8aaf707..0000000 Binary files a/DoorWeb/open1.jpg and /dev/null differ diff --git a/DoorWeb/open2.jpg b/DoorWeb/open2.jpg deleted file mode 100644 index 60b852f..0000000 Binary files a/DoorWeb/open2.jpg and /dev/null differ diff --git a/EncoderRtRead/EncoderRtRead.java b/EncoderRtRead/EncoderRtRead.java deleted file mode 100644 index 7a87673..0000000 --- a/EncoderRtRead/EncoderRtRead.java +++ /dev/null @@ -1,96 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Encoder Real Time Test - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import com.dalsemi.system.*; -import java.lang.Math.*; - -class EncoderRtRead -{ - public static native int startRealtime(int period); - public static native void stopRealtime(); - public static native float encoderGet(); - static final int ST=100; - - private static void delay(int ms) - { - long time=TINIOS.uptimeMillis(); - while(TINIOS.uptimeMillis() < time+ms); - } - - static void iter(long t) - { - long timeread=TINIOS.uptimeMillis(); - float disp=encoderGet(); - System.out.print("t="+t+" ms"); - System.out.println("\tEncoder read: " + disp); - delay(ST); - } - - public static void main(String[] args) - { - int i; - boolean run=true; - - System.out.println("AIC Encoder Real Time Test Program"); - System.out.println("Copyright (C) Walter Fetter Lages, 2005.\n"); - - int tfms=0; - if(args.length==1) - { - tfms=Integer.parseInt(args[0]); - } - else - { - System.out.println("Usage:\tEncoderRtRead ms"); - System.exit(1); - } - - System.out.print("Loading native library..."); - System.loadLibrary("encoderread.tlib"); - System.out.println("done."); - - int us=10000; - System.out.print("Starting real-time timer with "+us+" us period..."); - int period=startRealtime(us); - System.out.println("done."); - System.out.println("Effective period: "+period+" us."); - - System.out.println("Running EncoderRtRead for "+tfms+" ms..."); - - long t0=TINIOS.uptimeMillis(); - long t=0; - while(t <= tfms) - { - t=TINIOS.uptimeMillis()-t0; - iter(t); - } - System.out.println("...done."); - - System.out.print("Stoping real-time timer..."); - stopRealtime(); - System.out.println("done."); - - } -} diff --git a/EncoderRtRead/Makefile b/EncoderRtRead/Makefile deleted file mode 100644 index 3814981..0000000 --- a/EncoderRtRead/Makefile +++ /dev/null @@ -1,31 +0,0 @@ -all: EncoderRtRead.tini - -EncoderRtRead.class: EncoderRtRead.java ../lib/AIC.jar - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} EncoderRtRead.java - -encoderread.mpp: encoderread.a51 - ${ASMMACRO} -I${ASMINC} -e- encoderread.a51 - -encoderread.tlib: encoderread.mpp ../lib/aicio.mpp.lib - cat encoderread.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp - echo end >> tmp.mpp - ${ASM} ${ASMOPT} tmp.mpp - mv tmp.tlib encoderread.tlib - mv tmp.lst encoderread.lst - -encoderread.a51: encoderread.c - ${SDCC} ${SDCCCMPFLAGS} encoderread.c - -EncoderRtRead.tini: EncoderRtRead.class encoderread.tlib - java ${CLASSPATH} TINIConvertor -n encoderread.tlib -f EncoderRtRead.class ${APIDBPATH} -o EncoderRtRead.tini - - -clean: - rm -f *.bak *~ EncoderRtRead.class encoderread.tlib encoderread.mpp encoderread.lst encoderread.a51 globals.mpp tmp.mpp tmp.lst - -distclean: clean - rm -f EncoderRtRead.tini - -upload: EncoderRtRead.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done - \ No newline at end of file diff --git a/EncoderRtRead/encoderread.c b/EncoderRtRead/encoderread.c deleted file mode 100644 index e68e268..0000000 --- a/EncoderRtRead/encoderread.c +++ /dev/null @@ -1,87 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Encoder Real Time Test - Real Time Module - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include -#include - -#include - -#define BASE 0x800000 - -volatile pthread_t th; -volatile float disp; - -void encodertest_globals(void) _naked -{ - _asm -th: db 0,0,0,0 -disp: db 0,0,0,0 - _endasm; -} - -void *encoderread(void *arg) -{ - disp=encoder_read(); - return NULL; -} - -/* public static native int startRealtime(int period) */ -long Native_startRealtime(void) _JavaNative -{ - volatile long period=NatLib_LoadInt(0); - start_rt_timer(micro2count(period)); - pthread_create(&th,NULL,encoderread,NULL); - - encoder_initialize(BASE,2048); - - brake_release(); - - _asm - clr a - _endasm; - - return period; -} - -/* public static native void stopRealtime() */ -void Native_stopRealtime(void) _JavaNative -{ - brake_apply(); - - pthread_cancel(th); - stop_rt_timer(); - - _asm - clr a - _endasm; -} - -/* public static native float encoderGet() */ -float Native_encoderGet(void) _JavaNative -{ - return disp; -} - diff --git a/EncoderRtTest/EncoderRtTest.java b/EncoderRtTest/EncoderRtTest.java deleted file mode 100644 index ed3a5d0..0000000 --- a/EncoderRtTest/EncoderRtTest.java +++ /dev/null @@ -1,96 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Encoder Real Time Test - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import com.dalsemi.system.*; -import java.lang.Math.*; - -class EncoderRtTest -{ - public static native int startRealtime(int period); - public static native void stopRealtime(); - public static native int encoderGet(); - static final int ST=100; - - private static void delay(int ms) - { - long time=TINIOS.uptimeMillis(); - while(TINIOS.uptimeMillis() < time+ms); - } - - static void iter(long t) - { - long timeread=TINIOS.uptimeMillis(); - int count=encoderGet(); - System.out.print("t="+t+" ms"); - System.out.println("\tEncoder count: " + count); - delay(ST); - } - - public static void main(String[] args) - { - int i; - boolean run=true; - - System.out.println("AIC Encoder Real Time Test Program"); - System.out.println("Copyright (C) Walter Fetter Lages, 2005.\n"); - - int tfms=0; - if(args.length==1) - { - tfms=Integer.parseInt(args[0]); - } - else - { - System.out.println("Usage:\tEncoderRtTest ms"); - System.exit(1); - } - - System.out.print("Loading native library..."); - System.loadLibrary("encodertest.tlib"); - System.out.println("done."); - - int us=10000; - System.out.print("Starting real-time timer with "+us+" us period..."); - int period=startRealtime(us); - System.out.println("done."); - System.out.println("Effective period: "+period+" us."); - - System.out.println("Running EncoderRtTest for "+tfms+" ms..."); - - long t0=TINIOS.uptimeMillis(); - long t=0; - while(t <= tfms) - { - t=TINIOS.uptimeMillis()-t0; - iter(t); - } - System.out.println("...done."); - - System.out.print("Stoping real-time timer..."); - stopRealtime(); - System.out.println("done."); - - } -} diff --git a/EncoderRtTest/Makefile b/EncoderRtTest/Makefile deleted file mode 100644 index 34ff718..0000000 --- a/EncoderRtTest/Makefile +++ /dev/null @@ -1,30 +0,0 @@ -all: EncoderRtTest.tini - -EncoderRtTest.class: EncoderRtTest.java ../lib/AIC.jar - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} EncoderRtTest.java - -encodertest.mpp: encodertest.a51 - ${ASMMACRO} -I${ASMINC} -e- encodertest.a51 - -encodertest.tlib: encodertest.mpp ../lib/aicio.mpp.lib - cat encodertest.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp - echo end >> tmp.mpp - ${ASM} ${ASMOPT} tmp.mpp - mv tmp.tlib encodertest.tlib - mv tmp.lst encodertest.lst - -encodertest.a51: encodertest.c - ${SDCC} ${SDCCCMPFLAGS} encodertest.c - -EncoderRtTest.tini: EncoderRtTest.class encodertest.tlib - java ${CLASSPATH} TINIConvertor -n encodertest.tlib -f EncoderRtTest.class ${APIDBPATH} -o EncoderRtTest.tini - - -clean: - rm -f *.bak *~ EncoderRtTest.class encodertest.tlib encodertest.mpp encodertest.lst encodertest.a51 globals.mpp tmp.mpp tmp.lst - -distclean: clean - rm -f EncoderRtTest.tini - -upload: EncoderRtTest.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done diff --git a/EncoderRtTest/encodertest.c b/EncoderRtTest/encodertest.c deleted file mode 100644 index 683e466..0000000 --- a/EncoderRtTest/encodertest.c +++ /dev/null @@ -1,87 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Encoder Real Time Test - Real Time Module - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include -#include - -#include - -#define BASE 0x800000 - -volatile pthread_t th; -volatile long count; - -void encodertest_globals(void) _naked -{ - _asm -th: db 0,0,0,0 -count: db 0,0,0,0 - _endasm; -} - -void *encodertest(void *arg) -{ - count=encoder_get_count(); - return NULL; -} - -/* public static native int startRealtime(int period) */ -long Native_startRealtime(void) _JavaNative -{ - volatile long period=NatLib_LoadInt(0); - start_rt_timer(micro2count(period)); - pthread_create(&th,NULL,encodertest,NULL); - - encoder_initialize(BASE,2000); - - brake_release(); - - _asm - clr a - _endasm; - - return period; -} - -/* public static native void stopRealtime() */ -void Native_stopRealtime(void) _JavaNative -{ - brake_apply(); - - pthread_cancel(th); - stop_rt_timer(); - - _asm - clr a - _endasm; -} - -/* public static native int encoderGet() */ -long Native_encoderGet(void) _JavaNative -{ - return count; -} - diff --git a/EncoderTest/EncoderClear.java b/EncoderTest/EncoderClear.java deleted file mode 100644 index 4b407f4..0000000 --- a/EncoderTest/EncoderClear.java +++ /dev/null @@ -1,57 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Encoder Clear - Copyright (C) 2002, 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import com.dalsemi.system.*; -import java.io.*; -import java.lang.Math.*; - -class EncoderClear -{ - static final int BASE=0x800000; - - private static final int ENCODER=0x90000; - - - public static void main(String[] args) throws IOException - { - System.out.println("AIC Encoder Clear Program"); - System.out.println("Copyright (C) Walter Fetter Lages, 2003.\n"); - - DataPort encPort; - encPort=new DataPort(BASE+ENCODER); - encPort.setFIFOMode(true); - encPort.setStretchCycles(DataPort.STRETCH2); - - try - { - encPort.write((byte)0); - } - catch (IllegalAddressException iae) - { - iae.printStackTrace(); - } - - } -} diff --git a/EncoderTest/EncoderClear.upload b/EncoderTest/EncoderClear.upload deleted file mode 100644 index cf230b6..0000000 --- a/EncoderTest/EncoderClear.upload +++ /dev/null @@ -1,3 +0,0 @@ -bin -put EncoderClear.tini -quit diff --git a/EncoderTest/EncoderRead.java b/EncoderTest/EncoderRead.java deleted file mode 100644 index fec25e4..0000000 --- a/EncoderTest/EncoderRead.java +++ /dev/null @@ -1,62 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Encoder Read - Copyright (C) 2002, 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import com.dalsemi.system.*; -import java.io.*; -import java.lang.Math.*; - -class EncoderRead -{ - static final int BASE=0x800000; - - private static final int ENCODER=0x90000; - - public static void main(String[] args) throws IOException - { - System.out.println("AIC Encoder Read Program"); - System.out.println("Copyright (C) Walter Fetter Lages, 2003.\n"); - - DataPort encPort; - encPort=new DataPort(BASE+ENCODER); - encPort.setStretchCycles(DataPort.STRETCH2); - int count; - byte[] hilo=new byte[2]; - - encPort.setFIFOMode(false); - - try - { - encPort.read(hilo,0,2); - } - catch (IllegalAddressException iae) - { - iae.printStackTrace(); - } - - count=(hilo[0] << 8) | (hilo[1] & 0x000000ff); - - System.out.println("Count: " + count); - } -} diff --git a/EncoderTest/EncoderRead.upload b/EncoderTest/EncoderRead.upload deleted file mode 100644 index 57cc665..0000000 --- a/EncoderTest/EncoderRead.upload +++ /dev/null @@ -1,3 +0,0 @@ -bin -put EncoderRead.tini -quit diff --git a/EncoderTest/EncoderTest.java b/EncoderTest/EncoderTest.java deleted file mode 100644 index d8e5559..0000000 --- a/EncoderTest/EncoderTest.java +++ /dev/null @@ -1,87 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Encoder Test - Copyright (C) 2002, 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import br.ufrgs.ece.AIC.*; -import com.dalsemi.system.*; -import java.lang.Math.*; - -class EncoderTest -{ - static final int BASE=0x800000; - static final int ST=500; - static final double MV=12.0; - - static AIC aic; - - static long timeread0=0; - - private static void delay(int ms) - { - long time=TINIOS.uptimeMillis(); - while(TINIOS.uptimeMillis() < time+ms); - } - - static void iter(int i) - { - aic.motor.set(i); - System.out.print("Motor Voltage: " + i); - - long timeread=TINIOS.uptimeMillis(); - int count=aic.encoder.getCountAndClear(); - System.out.print("\tEncoder count: " + count); - System.out.println("\tMotor speed: " + (2*java.lang.Math.PI*count/aic.encoder.PULSES/(timeread-timeread0)*1000)); - timeread0=timeread; - delay(ST); - } - - public static void main(String[] args) - { - int i; - boolean run=true; - - System.out.println("AIC Encoder Test Program"); - System.out.println("Copyright (C) Walter Fetter Lages, 2003...2004.\n"); - - // Janus encoders are 500ppr -// aic=new AIC(BASE,24.0,20e3,2000); - - // ASEA encoders are 2048 ppr - aic=new AIC(BASE,24.0,20e3,8192); - - aic.on(); - - aic.brake.release(); - - for(i=0;(i <= MV) && run;i++) iter(i); - - while(run) - { - for(i=-(int)MV;(i <= MV) && run;i++) iter(i); - for(i=(int)MV;(i >= -MV) && run;i--) iter(i); - } - aic.off(); - - } -} diff --git a/EncoderTest/EncoderTest.upload b/EncoderTest/EncoderTest.upload deleted file mode 100644 index 5c80d8c..0000000 --- a/EncoderTest/EncoderTest.upload +++ /dev/null @@ -1,3 +0,0 @@ -bin -put EncoderTest.tini -quit diff --git a/EncoderTest/Makefile b/EncoderTest/Makefile deleted file mode 100644 index a686a55..0000000 --- a/EncoderTest/Makefile +++ /dev/null @@ -1,30 +0,0 @@ -TARGET=aic5 - -all: EncoderTest.tini EncoderClear.tini EncoderRead.tini - -EncoderTest.class: EncoderTest.java ../lib/AIC.jar - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} EncoderTest.java - -EncoderTest.tini: EncoderTest.class ../lib/AIC.jar - java ${CLASSPATH} TINIConvertor -f EncoderTest.class ${APIDBPATH} ${NATLIB} -o EncoderTest.tini ${LIBPATH} -n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib - -EncoderClear.class: EncoderClear.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} EncoderClear.java - -EncoderClear.tini: EncoderClear.class - java ${CLASSPATH} TINIConvertor -f EncoderClear.class ${APIDBPATH} -o EncoderClear.tini ${LIBPATH} - -EncoderRead.class: EncoderRead.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} EncoderRead.java - -EncoderRead.tini: EncoderRead.class - java ${CLASSPATH} TINIConvertor -f EncoderRead.class ${APIDBPATH} -o EncoderRead.tini ${LIBPATH} - -clean: - rm -f *.bak *~ *.class - -distclean: clean - rm -f *.tini - -upload: EncoderTest.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done diff --git a/EncoderTest/upload.ftp b/EncoderTest/upload.ftp deleted file mode 100644 index b247f25..0000000 --- a/EncoderTest/upload.ftp +++ /dev/null @@ -1,5 +0,0 @@ -bin -put EncoderTest.tini -put EncoderClear.tini -put EncoderRead.tini -quit diff --git a/FreeRTOS/croutine.c b/FreeRTOS/croutine.c new file mode 100644 index 0000000..b8c1868 --- /dev/null +++ b/FreeRTOS/croutine.c @@ -0,0 +1,352 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** +*/ + +#include "FreeRTOS.h" +#include "task.h" +#include "croutine.h" + +/* Lists for ready and blocked co-routines. --------------------*/ +static xList pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /*< Prioritised ready co-routines. */ +static xList xDelayedCoRoutineList1; /*< Delayed co-routines. */ +static xList xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */ +static xList * pxDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used. */ +static xList * pxOverflowDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */ +static xList xPendingReadyList; /*< Holds co-routines that have been readied by an external event. They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */ + +/* Other file private variables. --------------------------------*/ +corCRCB * pxCurrentCoRoutine = NULL; +static unsigned portBASE_TYPE uxTopCoRoutineReadyPriority = 0; +static portTickType xCoRoutineTickCount = 0; + +/* The initial state of the co-routine when it is created. */ +#define corINITIAL_STATE ( 0 ) + +/* + * Place the co-routine represented by pxCRCB into the appropriate ready queue + * for the priority. It is inserted at the end of the list. + * + * This macro accesses the co-routine ready lists and therefore must not be + * used from within an ISR. + */ +#define prvAddCoRoutineToReadyQueue( pxCRCB ) \ +{ \ + if( pxCRCB->uxPriority > uxTopCoRoutineReadyPriority ) \ + { \ + uxTopCoRoutineReadyPriority = pxCRCB->uxPriority; \ + } \ + vListInsertEnd( ( xList * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) ); \ +} + +/* + * Utility to ready all the lists used by the scheduler. This is called + * automatically upon the creation of the first co-routine. + */ +static void prvInitialiseCoRoutineLists( void ); + +/* + * Co-routines that are readied by an interrupt cannot be placed directly into + * the ready lists (there is no mutual exclusion). Instead they are placed in + * in the pending ready list in order that they can later be moved to the ready + * list by the co-routine scheduler. + */ +static inline void prvCheckPendingReadyList( void ); + +/* + * Macro that looks at the list of co-routines that are currently delayed to + * see if any require waking. + * + * Co-routines are stored in the queue in the order of their wake time - + * meaning once one co-routine has been found whose timer has not expired + * we need not look any further down the list. + */ +static inline void prvCheckDelayedList( void ); + +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portBASE_TYPE uxPriority, unsigned portBASE_TYPE uxIndex ) +{ +signed portBASE_TYPE xReturn; +corCRCB *pxCoRoutine; + + /* Allocate the memory that will store the co-routine control block. */ + pxCoRoutine = ( corCRCB * ) pvPortMalloc( sizeof( corCRCB ) ); + if( pxCoRoutine ) + { + /* If pxCurrentCoRoutine is NULL then this is the first co-routine to + be created and the co-routine data structures need initialising. */ + if( pxCurrentCoRoutine == NULL ) + { + pxCurrentCoRoutine = pxCoRoutine; + prvInitialiseCoRoutineLists(); + } + + /* Check the priority is within limits. */ + if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES ) + { + uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1; + } + + /* Fill out the co-routine control block from the function parameters. */ + pxCoRoutine->uxState = corINITIAL_STATE; + pxCoRoutine->uxPriority = uxPriority; + pxCoRoutine->uxIndex = uxIndex; + pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode; + + /* Initialise all the other co-routine control block parameters. */ + vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) ); + vListInitialiseItem( &( pxCoRoutine->xEventListItem ) ); + + /* Set the co-routine control block as a link back from the xListItem. + This is so we can get back to the containing CRCB from a generic item + in a list. */ + listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine ); + listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine ); + + /* Event lists are always in priority order. */ + listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority ); + + /* Now the co-routine has been initialised it can be added to the ready + list at the correct priority. */ + prvAddCoRoutineToReadyQueue( pxCoRoutine ); + + xReturn = pdPASS; + } + else + { + xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +void vCoRoutineAddToDelayedList( portTickType xTicksToDelay, xList *pxEventList ) +{ +portTickType xTimeToWake; + + /* Calculate the time to wake - this may overflow but this is + not a problem. */ + xTimeToWake = xCoRoutineTickCount + xTicksToDelay; + + /* We must remove ourselves from the ready list before adding + ourselves to the blocked list as the same list item is used for + both lists. */ + vListRemove( ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) ); + + /* The list item will be inserted in wake time order. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake ); + + if( xTimeToWake < xCoRoutineTickCount ) + { + /* Wake time has overflowed. Place this item in the + overflow list. */ + vListInsert( ( xList * ) pxOverflowDelayedCoRoutineList, ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) ); + } + else + { + /* The wake time has not overflowed, so we can use the + current block list. */ + vListInsert( ( xList * ) pxDelayedCoRoutineList, ( xListItem * ) &( pxCurrentCoRoutine->xGenericListItem ) ); + } + + if( pxEventList ) + { + /* Also add the co-routine to an event list. If this is done then the + function must be called with interrupts disabled. */ + vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) ); + } +} +/*-----------------------------------------------------------*/ + +static inline void prvCheckPendingReadyList( void ) +{ + /* Are there any co-routines waiting to get moved to the ready list? These + are co-routines that have been readied by an ISR. The ISR cannot access + the ready lists itself. */ + while( !listLIST_IS_EMPTY( &xPendingReadyList ) ) + { + corCRCB *pxUnblockedCRCB; + + /* The pending ready list can be accessed by an ISR. */ + portDISABLE_INTERRUPTS(); + { + pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyList) ); + vListRemove( &( pxUnblockedCRCB->xEventListItem ) ); + } + portENABLE_INTERRUPTS(); + + vListRemove( &( pxUnblockedCRCB->xGenericListItem ) ); + prvAddCoRoutineToReadyQueue( pxUnblockedCRCB ); + } +} +/*-----------------------------------------------------------*/ + +static inline void prvCheckDelayedList( void ) +{ +static portTickType xLastTickCount, xPassedTicks; +corCRCB *pxCRCB; + + xPassedTicks = xTaskGetTickCount() - xLastTickCount; + while( xPassedTicks ) + { + xCoRoutineTickCount++; + xPassedTicks--; + + /* If the tick count has overflowed we need to swap the ready lists. */ + if( xCoRoutineTickCount == 0 ) + { + xList * pxTemp; + + /* Tick count has overflowed so we need to swap the delay lists. If there are + any items in pxDelayedCoRoutineList here then there is an error! */ + pxTemp = pxDelayedCoRoutineList; + pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList; + pxOverflowDelayedCoRoutineList = pxTemp; + } + + /* See if this tick has made a timeout expire. */ + while( ( pxCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList ) ) != NULL ) + { + if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) ) + { + /* Timeout not yet expired. */ + break; + } + + portDISABLE_INTERRUPTS(); + { + /* The event could have occurred just before this critical + section. If this is the case then the generic list item will + have been moved to the pending ready list and the following + line is still valid. Also the pvContainer parameter will have + been set to NULL so the following lines are also valid. */ + vListRemove( &( pxCRCB->xGenericListItem ) ); + + /* Is the co-routine waiting on an event also? */ + if( pxCRCB->xEventListItem.pvContainer ) + { + vListRemove( &( pxCRCB->xEventListItem ) ); + } + } + portENABLE_INTERRUPTS(); + + prvAddCoRoutineToReadyQueue( pxCRCB ); + } + } + + xLastTickCount = xCoRoutineTickCount; +} +/*-----------------------------------------------------------*/ + +void vCoRoutineSchedule( void ) +{ + /* See if any co-routines readied by events need moving to the ready lists. */ + prvCheckPendingReadyList(); + + /* See if any delayed co-routines have timed out. */ + prvCheckDelayedList(); + + /* Find the highest priority queue that contains ready co-routines. */ + while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) ) + { + if( uxTopCoRoutineReadyPriority == 0 ) + { + /* No more co-routines to check. */ + return; + } + --uxTopCoRoutineReadyPriority; + } + + /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines + of the same priority get an equal share of the processor time. */ + listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ); + + /* Call the co-routine. */ + ( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex ); + + return; +} +/*-----------------------------------------------------------*/ + +static void prvInitialiseCoRoutineLists( void ) +{ +unsigned portBASE_TYPE uxPriority; + + for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ ) + { + vListInitialise( ( xList * ) &( pxReadyCoRoutineLists[ uxPriority ] ) ); + } + + vListInitialise( ( xList * ) &xDelayedCoRoutineList1 ); + vListInitialise( ( xList * ) &xDelayedCoRoutineList2 ); + vListInitialise( ( xList * ) &xPendingReadyList ); + + /* Start with pxDelayedCoRoutineList using list1 and the + pxOverflowDelayedCoRoutineList using list2. */ + pxDelayedCoRoutineList = &xDelayedCoRoutineList1; + pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2; +} +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xCoRoutineRemoveFromEventList( const xList *pxEventList ) +{ +corCRCB *pxUnblockedCRCB; +signed portBASE_TYPE xReturn; + + /* This function is called from within an interrupt. It can only access + event lists and the pending ready list. */ + pxUnblockedCRCB = ( corCRCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); + vListRemove( &( pxUnblockedCRCB->xEventListItem ) ); + vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedCRCB->xEventListItem ) ); + + if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority ) + { + xReturn = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + + return xReturn; +} + diff --git a/FreeRTOS/include/FreeRTOS.h b/FreeRTOS/include/FreeRTOS.h new file mode 100644 index 0000000..ee963a4 --- /dev/null +++ b/FreeRTOS/include/FreeRTOS.h @@ -0,0 +1,148 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** +*/ + +#ifndef INC_FREERTOS_H +#define INC_FREERTOS_H + + +/* + * Include the generic headers required for the FreeRTOS port being used. + */ +#include + +/* Basic FreeRTOS definitions. */ +#include "projdefs.h" + +/* Application specific configuration options. */ +#include "FreeRTOSConfig.h" + +/* Definitions specific to the port being used. */ +#include "portable.h" + + + + + + + +/* + * Check all the required application specific macros have been defined. + * These macros are application specific and (as downloaded) are defined + * within FreeRTOSConfig.h. + */ + +#ifndef configUSE_PREEMPTION + #error Missing definition: configUSE_PREEMPTION should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef configUSE_IDLE_HOOK + #error Missing definition: configUSE_IDLE_HOOK should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef configUSE_TICK_HOOK + #error Missing definition: configUSE_TICK_HOOK should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef configUSE_CO_ROUTINES + #error Missing definition: configUSE_CO_ROUTINES should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskPrioritySet + #error Missing definition: INCLUDE_vTaskPrioritySet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_uxTaskPriorityGet + #error Missing definition: INCLUDE_uxTaskPriorityGet should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskDelete + #error Missing definition: INCLUDE_vTaskDelete should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskCleanUpResources + #error Missing definition: INCLUDE_vTaskCleanUpResources should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskSuspend + #error Missing definition: INCLUDE_vTaskSuspend should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskDelayUntil + #error Missing definition: INCLUDE_vTaskDelayUntil should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef INCLUDE_vTaskDelay + #error Missing definition: INCLUDE_vTaskDelay should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef configUSE_16_BIT_TICKS + #error Missing definition: configUSE_16_BIT_TICKS should be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details. +#endif + +#ifndef configUSE_RECURSIVE_MUTEXES + #define configUSE_RECURSIVE_MUTEXES 0 +#endif + +#ifndef configUSE_MUTEXES + #define configUSE_MUTEXES 0 +#endif + +#ifndef configUSE_COUNTING_SEMAPHORES + #define configUSE_COUNTING_SEMAPHORES 0 +#endif + +#ifndef configUSE_ALTERNATIVE_API + #define configUSE_ALTERNATIVE_API 0 +#endif + +#if ( configUSE_MUTEXES == 1 ) + /* xTaskGetCurrentTaskHandle is used by the priority inheritance mechanism + within the mutex implementation so must be available if mutexes are used. */ + #undef INCLUDE_xTaskGetCurrentTaskHandle + #define INCLUDE_xTaskGetCurrentTaskHandle 1 +#else + #ifndef INCLUDE_xTaskGetCurrentTaskHandle + #define INCLUDE_xTaskGetCurrentTaskHandle 0 + #endif +#endif + +#endif /* INC_FREERTOS_H */ diff --git a/FreeRTOS/include/croutine.h b/FreeRTOS/include/croutine.h new file mode 100644 index 0000000..0ba1725 --- /dev/null +++ b/FreeRTOS/include/croutine.h @@ -0,0 +1,730 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** +*/ +#ifndef CO_ROUTINE_H +#define CO_ROUTINE_H + +#include "list.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/* Used to hide the implementation of the co-routine control block. The +control block structure however has to be included in the header due to +the macro implementation of the co-routine functionality. */ +typedef void * xCoRoutineHandle; + +/* Defines the prototype to which co-routine functions must conform. */ +typedef void (*crCOROUTINE_CODE)( xCoRoutineHandle, unsigned portBASE_TYPE ); + +typedef struct corCoRoutineControlBlock +{ + crCOROUTINE_CODE pxCoRoutineFunction; + xListItem xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */ + xListItem xEventListItem; /*< List item used to place the CRCB in event lists. */ + unsigned portBASE_TYPE uxPriority; /*< The priority of the co-routine in relation to other co-routines. */ + unsigned portBASE_TYPE uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */ + unsigned portSHORT uxState; /*< Used internally by the co-routine implementation. */ +} corCRCB; /* Co-routine control block. Note must be identical in size down to uxPriority with tskTCB. */ + +/** + * croutine. h + *
+ portBASE_TYPE xCoRoutineCreate(
+                                 crCOROUTINE_CODE pxCoRoutineCode,
+                                 unsigned portBASE_TYPE uxPriority,
+                                 unsigned portBASE_TYPE uxIndex
+                               );
+ * + * Create a new co-routine and add it to the list of co-routines that are + * ready to run. + * + * @param pxCoRoutineCode Pointer to the co-routine function. Co-routine + * functions require special syntax - see the co-routine section of the WEB + * documentation for more information. + * + * @param uxPriority The priority with respect to other co-routines at which + * the co-routine will run. + * + * @param uxIndex Used to distinguish between different co-routines that + * execute the same function. See the example below and the co-routine section + * of the WEB documentation for further information. + * + * @return pdPASS if the co-routine was successfully created and added to a ready + * list, otherwise an error code defined with ProjDefs.h. + * + * Example usage: + 
+ // Co-routine to be created.
+ void vFlashCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
+ {
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ // This may not be necessary for const variables.
+ static const char cLedToFlash[ 2 ] = { 5, 6 };
+ static const portTickType xTimeToDelay[ 2 ] = { 200, 400 };
+
+     // Must start every co-routine with a call to crSTART();
+     crSTART( xHandle );
+
+     for( ;; )
+     {
+         // This co-routine just delays for a fixed period, then toggles
+         // an LED.  Two co-routines are created using this function, so
+         // the uxIndex parameter is used to tell the co-routine which
+         // LED to flash and how long to delay.  This assumes xQueue has
+         // already been created.
+         vParTestToggleLED( cLedToFlash[ uxIndex ] );
+         crDELAY( xHandle, uxFlashRates[ uxIndex ] );
+     }
+
+     // Must end every co-routine with a call to crEND();
+     crEND();
+ }
+
+ // Function that creates two co-routines.
+ void vOtherFunction( void )
+ {
+ unsigned char ucParameterToPass;
+ xTaskHandle xHandle;
+		
+     // Create two co-routines at priority 0.  The first is given index 0
+     // so (from the code above) toggles LED 5 every 200 ticks.  The second
+     // is given index 1 so toggles LED 6 every 400 ticks.
+     for( uxIndex = 0; uxIndex < 2; uxIndex++ )
+     {
+         xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
+     }
+ }
+
+ * \defgroup xCoRoutineCreate xCoRoutineCreate + * \ingroup Tasks + */ +signed portBASE_TYPE xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, unsigned portBASE_TYPE uxPriority, unsigned portBASE_TYPE uxIndex ); + + +/** + * croutine. h + *
+ void vCoRoutineSchedule( void );
+ * + * Run a co-routine. + * + * vCoRoutineSchedule() executes the highest priority co-routine that is able + * to run. The co-routine will execute until it either blocks, yields or is + * preempted by a task. Co-routines execute cooperatively so one + * co-routine cannot be preempted by another, but can be preempted by a task. + * + * If an application comprises of both tasks and co-routines then + * vCoRoutineSchedule should be called from the idle task (in an idle task + * hook). + * + * Example usage: + 
+ // This idle task hook will schedule a co-routine each time it is called.
+ // The rest of the idle task will execute between co-routine calls.
+ void vApplicationIdleHook( void )
+ {
+	vCoRoutineSchedule();
+ }
+
+ // Alternatively, if you do not require any other part of the idle task to
+ // execute, the idle task hook can call vCoRoutineScheduler() within an
+ // infinite loop.
+ void vApplicationIdleHook( void )
+ {
+    for( ;; )
+    {
+        vCoRoutineSchedule();
+    }
+ }
+
+ * \defgroup vCoRoutineSchedule vCoRoutineSchedule + * \ingroup Tasks + */ +void vCoRoutineSchedule( void ); + +/** + * croutine. h + * 
+ crSTART( xCoRoutineHandle xHandle );
+ * + * This macro MUST always be called at the start of a co-routine function. + * + * Example usage: + 
+ // Co-routine to be created.
+ void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
+ {
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ static portLONG ulAVariable;
+
+     // Must start every co-routine with a call to crSTART();
+     crSTART( xHandle );
+
+     for( ;; )
+     {
+          // Co-routine functionality goes here.
+     }
+
+     // Must end every co-routine with a call to crEND();
+     crEND();
+ }
+ * \defgroup crSTART crSTART + * \ingroup Tasks + */ +#define crSTART( pxCRCB ) switch( ( ( corCRCB * )pxCRCB )->uxState ) { case 0: + +/** + * croutine. h + * 
+ crEND();
+ * + * This macro MUST always be called at the end of a co-routine function. + * + * Example usage: + 
+ // Co-routine to be created.
+ void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
+ {
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ static portLONG ulAVariable;
+
+     // Must start every co-routine with a call to crSTART();
+     crSTART( xHandle );
+
+     for( ;; )
+     {
+          // Co-routine functionality goes here.
+     }
+
+     // Must end every co-routine with a call to crEND();
+     crEND();
+ }
+ * \defgroup crSTART crSTART + * \ingroup Tasks + */ +#define crEND() } + +/* + * These macros are intended for internal use by the co-routine implementation + * only. The macros should not be used directly by application writers. + */ +#define crSET_STATE0( xHandle ) ( ( corCRCB * )xHandle)->uxState = (__LINE__ * 2); return; case (__LINE__ * 2): +#define crSET_STATE1( xHandle ) ( ( corCRCB * )xHandle)->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1): + +/** + * croutine. h + *
+ crDELAY( xCoRoutineHandle xHandle, portTickType xTicksToDelay );
+ * + * Delay a co-routine for a fixed period of time. + * + * crDELAY can only be called from the co-routine function itself - not + * from within a function called by the co-routine function. This is because + * co-routines do not maintain their own stack. + * + * @param xHandle The handle of the co-routine to delay. This is the xHandle + * parameter of the co-routine function. + * + * @param xTickToDelay The number of ticks that the co-routine should delay + * for. The actual amount of time this equates to is defined by + * configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant portTICK_RATE_MS + * can be used to convert ticks to milliseconds. + * + * Example usage: + 
+ // Co-routine to be created.
+ void vACoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
+ {
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ // This may not be necessary for const variables.
+ // We are to delay for 200ms.
+ static const xTickType xDelayTime = 200 / portTICK_RATE_MS;
+
+     // Must start every co-routine with a call to crSTART();
+     crSTART( xHandle );
+
+     for( ;; )
+     {
+        // Delay for 200ms.
+        crDELAY( xHandle, xDelayTime );
+
+        // Do something here.
+     }
+
+     // Must end every co-routine with a call to crEND();
+     crEND();
+ }
+ * \defgroup crDELAY crDELAY + * \ingroup Tasks + */ +#define crDELAY( xHandle, xTicksToDelay ) \ + if( xTicksToDelay > 0 ) \ + { \ + vCoRoutineAddToDelayedList( xTicksToDelay, NULL ); \ + } \ + crSET_STATE0( xHandle ); + +/** + * 
+ crQUEUE_SEND(
+                  xCoRoutineHandle xHandle,
+                  xQueueHandle pxQueue,
+                  void *pvItemToQueue,
+                  portTickType xTicksToWait,
+                  portBASE_TYPE *pxResult
+             )
+ * + * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine + * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks. + * + * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas + * xQueueSend() and xQueueReceive() can only be used from tasks. + * + * crQUEUE_SEND can only be called from the co-routine function itself - not + * from within a function called by the co-routine function. This is because + * co-routines do not maintain their own stack. + * + * See the co-routine section of the WEB documentation for information on + * passing data between tasks and co-routines and between ISR's and + * co-routines. + * + * @param xHandle The handle of the calling co-routine. This is the xHandle + * parameter of the co-routine function. + * + * @param pxQueue The handle of the queue on which the data will be posted. + * The handle is obtained as the return value when the queue is created using + * the xQueueCreate() API function. + * + * @param pvItemToQueue A pointer to the data being posted onto the queue. + * The number of bytes of each queued item is specified when the queue is + * created. This number of bytes is copied from pvItemToQueue into the queue + * itself. + * + * @param xTickToDelay The number of ticks that the co-routine should block + * to wait for space to become available on the queue, should space not be + * available immediately. The actual amount of time this equates to is defined + * by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant + * portTICK_RATE_MS can be used to convert ticks to milliseconds (see example + * below). + * + * @param pxResult The variable pointed to by pxResult will be set to pdPASS if + * data was successfully posted onto the queue, otherwise it will be set to an + * error defined within ProjDefs.h. + * + * Example usage: + 
+ // Co-routine function that blocks for a fixed period then posts a number onto
+ // a queue.
+ static void prvCoRoutineFlashTask( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
+ {
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ static portBASE_TYPE xNumberToPost = 0;
+ static portBASE_TYPE xResult;
+
+    // Co-routines must begin with a call to crSTART().
+    crSTART( xHandle );
+
+    for( ;; )
+    {
+        // This assumes the queue has already been created.
+        crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
+
+        if( xResult != pdPASS )
+        {
+            // The message was not posted!
+        }
+
+        // Increment the number to be posted onto the queue.
+        xNumberToPost++;
+
+        // Delay for 100 ticks.
+        crDELAY( xHandle, 100 );
+    }
+
+    // Co-routines must end with a call to crEND().
+    crEND();
+ }
+ * \defgroup crQUEUE_SEND crQUEUE_SEND + * \ingroup Tasks + */ +#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \ +{ \ + *pxResult = xQueueCRSend( pxQueue, pvItemToQueue, xTicksToWait ); \ + if( *pxResult == errQUEUE_BLOCKED ) \ + { \ + crSET_STATE0( xHandle ); \ + *pxResult = xQueueCRSend( pxQueue, pvItemToQueue, 0 ); \ + } \ + if( *pxResult == errQUEUE_YIELD ) \ + { \ + crSET_STATE1( xHandle ); \ + *pxResult = pdPASS; \ + } \ +} + +/** + * croutine. h + * 
+  crQUEUE_RECEIVE(
+                     xCoRoutineHandle xHandle,
+                     xQueueHandle pxQueue,
+                     void *pvBuffer,
+                     portTickType xTicksToWait,
+                     portBASE_TYPE *pxResult
+                 )
+ * + * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine + * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks. + * + * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas + * xQueueSend() and xQueueReceive() can only be used from tasks. + * + * crQUEUE_RECEIVE can only be called from the co-routine function itself - not + * from within a function called by the co-routine function. This is because + * co-routines do not maintain their own stack. + * + * See the co-routine section of the WEB documentation for information on + * passing data between tasks and co-routines and between ISR's and + * co-routines. + * + * @param xHandle The handle of the calling co-routine. This is the xHandle + * parameter of the co-routine function. + * + * @param pxQueue The handle of the queue from which the data will be received. + * The handle is obtained as the return value when the queue is created using + * the xQueueCreate() API function. + * + * @param pvBuffer The buffer into which the received item is to be copied. + * The number of bytes of each queued item is specified when the queue is + * created. This number of bytes is copied into pvBuffer. + * + * @param xTickToDelay The number of ticks that the co-routine should block + * to wait for data to become available from the queue, should data not be + * available immediately. The actual amount of time this equates to is defined + * by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant + * portTICK_RATE_MS can be used to convert ticks to milliseconds (see the + * crQUEUE_SEND example). + * + * @param pxResult The variable pointed to by pxResult will be set to pdPASS if + * data was successfully retrieved from the queue, otherwise it will be set to + * an error code as defined within ProjDefs.h. + * + * Example usage: + 
+ // A co-routine receives the number of an LED to flash from a queue.  It
+ // blocks on the queue until the number is received.
+ static void prvCoRoutineFlashWorkTask( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
+ {
+ // Variables in co-routines must be declared static if they must maintain value across a blocking call.
+ static portBASE_TYPE xResult;
+ static unsigned portBASE_TYPE uxLEDToFlash;
+
+    // All co-routines must start with a call to crSTART().
+    crSTART( xHandle );
+
+    for( ;; )
+    {
+        // Wait for data to become available on the queue.
+        crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
+
+        if( xResult == pdPASS )
+        {
+            // We received the LED to flash - flash it!
+            vParTestToggleLED( uxLEDToFlash );
+        }
+    }
+
+    crEND();
+ }
+ * \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE + * \ingroup Tasks + */ +#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \ +{ \ + *pxResult = xQueueCRReceive( pxQueue, pvBuffer, xTicksToWait ); \ + if( *pxResult == errQUEUE_BLOCKED ) \ + { \ + crSET_STATE0( xHandle ); \ + *pxResult = xQueueCRReceive( pxQueue, pvBuffer, 0 ); \ + } \ + if( *pxResult == errQUEUE_YIELD ) \ + { \ + crSET_STATE1( xHandle ); \ + *pxResult = pdPASS; \ + } \ +} + +/** + * croutine. h + * 
+  crQUEUE_SEND_FROM_ISR(
+                            xQueueHandle pxQueue,
+                            void *pvItemToQueue,
+                            portBASE_TYPE xCoRoutinePreviouslyWoken
+                       )
+ * + * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the + * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR() + * functions used by tasks. + * + * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to + * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and + * xQueueReceiveFromISR() can only be used to pass data between a task and and + * ISR. + * + * crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue + * that is being used from within a co-routine. + * + * See the co-routine section of the WEB documentation for information on + * passing data between tasks and co-routines and between ISR's and + * co-routines. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto + * the same queue multiple times from a single interrupt. The first call + * should always pass in pdFALSE. Subsequent calls should pass in + * the value returned from the previous call. + * + * @return pdTRUE if a co-routine was woken by posting onto the queue. This is + * used by the ISR to determine if a context switch may be required following + * the ISR. + * + * Example usage: + 
+ // A co-routine that blocks on a queue waiting for characters to be received.
+ static void vReceivingCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
+ {
+ portCHAR cRxedChar;
+ portBASE_TYPE xResult;
+
+     // All co-routines must start with a call to crSTART().
+     crSTART( xHandle );
+
+     for( ;; )
+     {
+         // Wait for data to become available on the queue.  This assumes the
+         // queue xCommsRxQueue has already been created!
+         crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
+
+         // Was a character received?
+         if( xResult == pdPASS )
+         {
+             // Process the character here.
+         }
+     }
+
+     // All co-routines must end with a call to crEND().
+     crEND();
+ }
+
+ // An ISR that uses a queue to send characters received on a serial port to
+ // a co-routine.
+ void vUART_ISR( void )
+ {
+ portCHAR cRxedChar;
+ portBASE_TYPE xCRWokenByPost = pdFALSE;
+
+     // We loop around reading characters until there are none left in the UART.
+     while( UART_RX_REG_NOT_EMPTY() )
+     {
+         // Obtain the character from the UART.
+         cRxedChar = UART_RX_REG;
+
+         // Post the character onto a queue.  xCRWokenByPost will be pdFALSE
+         // the first time around the loop.  If the post causes a co-routine
+         // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
+         // In this manner we can ensure that if more than one co-routine is
+         // blocked on the queue only one is woken by this ISR no matter how
+         // many characters are posted to the queue.
+         xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
+     }
+ }
+ * \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR + * \ingroup Tasks + */ +#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) + + +/** + * croutine. h + * 
+  crQUEUE_SEND_FROM_ISR(
+                            xQueueHandle pxQueue,
+                            void *pvBuffer,
+                            portBASE_TYPE * pxCoRoutineWoken
+                       )
+ * + * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the + * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR() + * functions used by tasks. + * + * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to + * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and + * xQueueReceiveFromISR() can only be used to pass data between a task and and + * ISR. + * + * crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data + * from a queue that is being used from within a co-routine (a co-routine + * posted to the queue). + * + * See the co-routine section of the WEB documentation for information on + * passing data between tasks and co-routines and between ISR's and + * co-routines. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvBuffer A pointer to a buffer into which the received item will be + * placed. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from the queue into + * pvBuffer. + * + * @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become + * available on the queue. If crQUEUE_RECEIVE_FROM_ISR causes such a + * co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise + * *pxCoRoutineWoken will remain unchanged. + * + * @return pdTRUE an item was successfully received from the queue, otherwise + * pdFALSE. + * + * Example usage: + 
+ // A co-routine that posts a character to a queue then blocks for a fixed
+ // period.  The character is incremented each time.
+ static void vSendingCoRoutine( xCoRoutineHandle xHandle, unsigned portBASE_TYPE uxIndex )
+ {
+ // cChar holds its value while this co-routine is blocked and must therefore
+ // be declared static.
+ static portCHAR cCharToTx = 'a';
+ portBASE_TYPE xResult;
+
+     // All co-routines must start with a call to crSTART().
+     crSTART( xHandle );
+
+     for( ;; )
+     {
+         // Send the next character to the queue.
+         crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
+
+         if( xResult == pdPASS )
+         {
+             // The character was successfully posted to the queue.
+         }
+		 else
+		 {
+			// Could not post the character to the queue.
+		 }
+
+         // Enable the UART Tx interrupt to cause an interrupt in this
+		 // hypothetical UART.  The interrupt will obtain the character
+		 // from the queue and send it.
+		 ENABLE_RX_INTERRUPT();
+
+		 // Increment to the next character then block for a fixed period.
+		 // cCharToTx will maintain its value across the delay as it is
+		 // declared static.
+		 cCharToTx++;
+		 if( cCharToTx > 'x' )
+		 {
+			cCharToTx = 'a';
+		 }
+		 crDELAY( 100 );
+     }
+
+     // All co-routines must end with a call to crEND().
+     crEND();
+ }
+
+ // An ISR that uses a queue to receive characters to send on a UART.
+ void vUART_ISR( void )
+ {
+ portCHAR cCharToTx;
+ portBASE_TYPE xCRWokenByPost = pdFALSE;
+
+     while( UART_TX_REG_EMPTY() )
+     {
+         // Are there any characters in the queue waiting to be sent?
+		 // xCRWokenByPost will automatically be set to pdTRUE if a co-routine
+		 // is woken by the post - ensuring that only a single co-routine is
+		 // woken no matter how many times we go around this loop.
+         if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
+		 {
+			 SEND_CHARACTER( cCharToTx );
+		 }
+     }
+ }
+ * \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR + * \ingroup Tasks + */ +#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( pxQueue, pvBuffer, pxCoRoutineWoken ) + +/* + * This function is intended for internal use by the co-routine macros only. + * The macro nature of the co-routine implementation requires that the + * prototype appears here. The function should not be used by application + * writers. + * + * Removes the current co-routine from its ready list and places it in the + * appropriate delayed list. + */ +void vCoRoutineAddToDelayedList( portTickType xTicksToDelay, xList *pxEventList ); + +/* + * This function is intended for internal use by the queue implementation only. + * The function should not be used by application writers. + * + * Removes the highest priority co-routine from the event list and places it in + * the pending ready list. + */ +signed portBASE_TYPE xCoRoutineRemoveFromEventList( const xList *pxEventList ); + +#ifdef __cplusplus +} +#endif + +#endif /* CO_ROUTINE_H */ diff --git a/FreeRTOS/include/list.h b/FreeRTOS/include/list.h new file mode 100644 index 0000000..78fe086 --- /dev/null +++ b/FreeRTOS/include/list.h @@ -0,0 +1,294 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** +*/ + +/* + * This is the list implementation used by the scheduler. While it is tailored + * heavily for the schedulers needs, it is also available for use by + * application code. + * + * xLists can only store pointers to xListItems. Each xListItem contains a + * numeric value (xItemValue). Most of the time the lists are sorted in + * descending item value order. + * + * Lists are created already containing one list item. The value of this + * item is the maximum possible that can be stored, it is therefore always at + * the end of the list and acts as a marker. The list member pxHead always + * points to this marker - even though it is at the tail of the list. This + * is because the tail contains a wrap back pointer to the true head of + * the list. + * + * In addition to it's value, each list item contains a pointer to the next + * item in the list (pxNext), a pointer to the list it is in (pxContainer) + * and a pointer to back to the object that contains it. These later two + * pointers are included for efficiency of list manipulation. There is + * effectively a two way link between the object containing the list item and + * the list item itself. + * + * + * \page ListIntroduction List Implementation + * \ingroup FreeRTOSIntro + */ + +/* + Changes from V4.3.1 + + + Included local const within listGET_OWNER_OF_NEXT_ENTRY() to assist + compiler with optimisation. Thanks B.R. +*/ + +#ifndef LIST_H +#define LIST_H + +#ifdef __cplusplus +extern "C" { +#endif +/* + * Definition of the only type of object that a list can contain. + */ +struct xLIST_ITEM +{ + portTickType xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */ + volatile struct xLIST_ITEM * pxNext; /*< Pointer to the next xListItem in the list. */ + volatile struct xLIST_ITEM * pxPrevious;/*< Pointer to the previous xListItem in the list. */ + void * pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */ + void * pvContainer; /*< Pointer to the list in which this list item is placed (if any). */ +}; +typedef struct xLIST_ITEM xListItem; /* For some reason lint wants this as two separate definitions. */ + +struct xMINI_LIST_ITEM +{ + portTickType xItemValue; + volatile struct xLIST_ITEM *pxNext; + volatile struct xLIST_ITEM *pxPrevious; +}; +typedef struct xMINI_LIST_ITEM xMiniListItem; + +/* + * Definition of the type of queue used by the scheduler. + */ +typedef struct xLIST +{ + volatile unsigned portBASE_TYPE uxNumberOfItems; + volatile xListItem * pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to pvListGetOwnerOfNextEntry (). */ + volatile xMiniListItem xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */ +} xList; + +/* + * Access macro to set the owner of a list item. The owner of a list item + * is the object (usually a TCB) that contains the list item. + * + * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER + * \ingroup LinkedList + */ +#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( pxListItem )->pvOwner = ( void * ) pxOwner + +/* + * Access macro to set the value of the list item. In most cases the value is + * used to sort the list in descending order. + * + * \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE + * \ingroup LinkedList + */ +#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( pxListItem )->xItemValue = xValue + +/* + * Access macro the retrieve the value of the list item. The value can + * represent anything - for example a the priority of a task, or the time at + * which a task should be unblocked. + * + * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE + * \ingroup LinkedList + */ +#define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue ) + +/* + * Access macro to determine if a list contains any items. The macro will + * only have the value true if the list is empty. + * + * \page listLIST_IS_EMPTY listLIST_IS_EMPTY + * \ingroup LinkedList + */ +#define listLIST_IS_EMPTY( pxList ) ( ( pxList )->uxNumberOfItems == ( unsigned portBASE_TYPE ) 0 ) + +/* + * Access macro to return the number of items in the list. + */ +#define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems ) + +/* + * Access function to obtain the owner of the next entry in a list. + * + * The list member pxIndex is used to walk through a list. Calling + * listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list + * and returns that entries pxOwner parameter. Using multiple calls to this + * function it is therefore possible to move through every item contained in + * a list. + * + * The pxOwner parameter of a list item is a pointer to the object that owns + * the list item. In the scheduler this is normally a task control block. + * The pxOwner parameter effectively creates a two way link between the list + * item and its owner. + * + * @param pxList The list from which the next item owner is to be returned. + * + * \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY + * \ingroup LinkedList + */ +#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \ +{ \ +xList * const pxConstList = pxList; \ + /* Increment the index to the next item and return the item, ensuring */ \ + /* we don't return the marker used at the end of the list. */ \ + ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ + if( ( pxConstList )->pxIndex == ( xListItem * ) &( ( pxConstList )->xListEnd ) ) \ + { \ + ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \ + } \ + pxTCB = ( pxConstList )->pxIndex->pvOwner; \ +} + + +/* + * Access function to obtain the owner of the first entry in a list. Lists + * are normally sorted in ascending item value order. + * + * This function returns the pxOwner member of the first item in the list. + * The pxOwner parameter of a list item is a pointer to the object that owns + * the list item. In the scheduler this is normally a task control block. + * The pxOwner parameter effectively creates a two way link between the list + * item and its owner. + * + * @param pxList The list from which the owner of the head item is to be + * returned. + * + * \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY + * \ingroup LinkedList + */ +#define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( ( pxList->uxNumberOfItems != ( unsigned portBASE_TYPE ) 0 ) ? ( (&( pxList->xListEnd ))->pxNext->pvOwner ) : ( NULL ) ) + +/* + * Check to see if a list item is within a list. The list item maintains a + * "container" pointer that points to the list it is in. All this macro does + * is check to see if the container and the list match. + * + * @param pxList The list we want to know if the list item is within. + * @param pxListItem The list item we want to know if is in the list. + * @return pdTRUE is the list item is in the list, otherwise pdFALSE. + * pointer against + */ +#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( pxListItem )->pvContainer == ( void * ) pxList ) + +/* + * Must be called before a list is used! This initialises all the members + * of the list structure and inserts the xListEnd item into the list as a + * marker to the back of the list. + * + * @param pxList Pointer to the list being initialised. + * + * \page vListInitialise vListInitialise + * \ingroup LinkedList + */ +void vListInitialise( xList *pxList ); + +/* + * Must be called before a list item is used. This sets the list container to + * null so the item does not think that it is already contained in a list. + * + * @param pxItem Pointer to the list item being initialised. + * + * \page vListInitialiseItem vListInitialiseItem + * \ingroup LinkedList + */ +void vListInitialiseItem( xListItem *pxItem ); + +/* + * Insert a list item into a list. The item will be inserted into the list in + * a position determined by its item value (descending item value order). + * + * @param pxList The list into which the item is to be inserted. + * + * @param pxNewListItem The item to that is to be placed in the list. + * + * \page vListInsert vListInsert + * \ingroup LinkedList + */ +void vListInsert( xList *pxList, xListItem *pxNewListItem ); + +/* + * Insert a list item into a list. The item will be inserted in a position + * such that it will be the last item within the list returned by multiple + * calls to listGET_OWNER_OF_NEXT_ENTRY. + * + * The list member pvIndex is used to walk through a list. Calling + * listGET_OWNER_OF_NEXT_ENTRY increments pvIndex to the next item in the list. + * Placing an item in a list using vListInsertEnd effectively places the item + * in the list position pointed to by pvIndex. This means that every other + * item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before + * the pvIndex parameter again points to the item being inserted. + * + * @param pxList The list into which the item is to be inserted. + * + * @param pxNewListItem The list item to be inserted into the list. + * + * \page vListInsertEnd vListInsertEnd + * \ingroup LinkedList + */ +void vListInsertEnd( xList *pxList, xListItem *pxNewListItem ); + +/* + * Remove an item from a list. The list item has a pointer to the list that + * it is in, so only the list item need be passed into the function. + * + * @param vListRemove The item to be removed. The item will remove itself from + * the list pointed to by it's pxContainer parameter. + * + * \page vListRemove vListRemove + * \ingroup LinkedList + */ +void vListRemove( xListItem *pxItemToRemove ); + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/FreeRTOS/include/portable.h b/FreeRTOS/include/portable.h new file mode 100644 index 0000000..2acf92b --- /dev/null +++ b/FreeRTOS/include/portable.h @@ -0,0 +1,271 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http:www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** +*/ + +/*----------------------------------------------------------- + * Portable layer API. Each function must be defined for each port. + *----------------------------------------------------------*/ + +#ifndef PORTABLE_H +#define PORTABLE_H + +/* Include the macro file relevant to the port being used. */ + +#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT + #include "..\..\source\portable\owatcom\16bitdos\pc\portmacro.h" + typedef void ( __interrupt __far *pxISR )(); +#endif + +#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT + #include "..\..\source\portable\owatcom\16bitdos\flsh186\portmacro.h" + typedef void ( __interrupt __far *pxISR )(); +#endif + +#ifdef GCC_MEGA_AVR + #include "../portable/GCC/ATMega323/portmacro.h" +#endif + +#ifdef IAR_MEGA_AVR + #include "../portable/IAR/ATMega323/portmacro.h" +#endif + +#ifdef MPLAB_PIC24_PORT + #include "..\..\Source\portable\MPLAB\PIC24_dsPIC\portmacro.h" +#endif + +#ifdef MPLAB_DSPIC_PORT + #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h" +#endif + +#ifdef AIC_DSPIC_PORT +#include "../../FreeRTOS/portable/AIC-2.0.0/portmacro.h" +#endif + +#ifdef MPLAB_PIC18F_PORT + #include "..\..\source\portable\MPLAB\PIC18F\portmacro.h" +#endif + +#ifdef MPLAB_PIC32MX_PORT + #include "..\..\Source\portable\MPLAB\PIC32MX\portmacro.h" +#endif + +#ifdef _FEDPICC + #include "libFreeRTOS/Include/portmacro.h" +#endif + +#ifdef SDCC_CYGNAL + #include "../../Source/portable/SDCC/Cygnal/portmacro.h" +#endif + +#ifdef GCC_ARM7 + #include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h" +#endif + +#ifdef GCC_ARM7_ECLIPSE + #include "portmacro.h" +#endif + +#ifdef ROWLEY_LPC23xx + #include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h" +#endif + +#ifdef GCC_MSP430 + #include "../../Source/portable/GCC/MSP430F449/portmacro.h" +#endif + +#ifdef ROWLEY_MSP430 + #include "../../Source/portable/Rowley/MSP430F449/portmacro.h" +#endif + +#ifdef KEIL_ARM7 + #include "..\..\Source\portable\Keil\ARM7\portmacro.h" +#endif + +#ifdef SAM7_GCC + #include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h" +#endif + +#ifdef SAM7_IAR + #include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h" +#endif + +#ifdef LPC2000_IAR + #include "..\..\Source\portable\IAR\LPC2000\portmacro.h" +#endif + +#ifdef STR71X_IAR + #include "..\..\Source\portable\IAR\STR71x\portmacro.h" +#endif + +#ifdef STR75X_IAR + #include "..\..\Source\portable\IAR\STR75x\portmacro.h" +#endif + +#ifdef STR75X_GCC + #include "..\..\Source\portable\GCC\STR75x\portmacro.h" +#endif + +#ifdef STR91X_IAR + #include "..\..\Source\portable\IAR\STR91x\portmacro.h" +#endif + +#ifdef GCC_H8S + #include "../../Source/portable/GCC/H8S2329/portmacro.h" +#endif + +#ifdef GCC_AT91FR40008 + #include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h" +#endif + +#ifdef RVDS_ARMCM3_LM3S102 + #include "../../Source/portable/RVDS/ARM_CM3/portmacro.h" +#endif + +#ifdef GCC_ARMCM3_LM3S102 + #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" +#endif + +#ifdef GCC_ARMCM3 + #include "../../Source/portable/GCC/ARM_CM3/portmacro.h" +#endif + +#ifdef IAR_ARM_CM3 + #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" +#endif + +#ifdef IAR_ARMCM3_LM + #include "../../Source/portable/IAR/ARM_CM3/portmacro.h" +#endif + +#ifdef HCS12_CODE_WARRIOR + #include "../../Source/portable/CodeWarrior/HCS12/portmacro.h" +#endif + +#ifdef MICROBLAZE_GCC + #include "../../Source/portable/GCC/MicroBlaze/portmacro.h" +#endif + +#ifdef TERN_EE + #include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h" +#endif + +#ifdef GCC_HCS12 + #include "../../Source/portable/GCC/HCS12/portmacro.h" +#endif + +#ifdef GCC_MCF5235 + #include "../../Source/portable/GCC/MCF5235/portmacro.h" +#endif + +#ifdef BCC_INDUSTRIAL_PC_PORT + /* A short file name has to be used in place of the normal + FreeRTOSConfig.h when using the Borland compiler. */ + #include "frconfig.h" + #include "..\portable\BCC\16BitDOS\PC\prtmacro.h" + typedef void ( __interrupt __far *pxISR )(); +#endif + +#ifdef BCC_FLASH_LITE_186_PORT + /* A short file name has to be used in place of the normal + FreeRTOSConfig.h when using the Borland compiler. */ + #include "frconfig.h" + #include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h" + typedef void ( __interrupt __far *pxISR )(); +#endif + +#ifdef __GNUC__ + #ifdef __AVR32_AVR32A__ + #include "portmacro.h" + #endif +#endif + +#ifdef __ICCAVR32__ + #ifdef __CORE__ + #if __CORE__ == __AVR32A__ + #include "portmacro.h" + #endif + #endif +#endif + +#ifdef __91467D + #include "portmacro.h" +#endif + +#ifdef __96340 + #include "portmacro.h" +#endif + +#ifdef __cplusplus +extern "C" { +#endif +/* + * Setup the stack of a new task so it is ready to be placed under the + * scheduler control. The registers have to be placed on the stack in + * the order that the port expects to find them. + */ +portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ); + +/* + * Map to the memory management routines required for the port. + */ +void *pvPortMalloc( size_t xSize ); +void vPortFree( void *pv ); +void vPortInitialiseBlocks( void ); + +/* + * Setup the hardware ready for the scheduler to take control. This generally + * sets up a tick interrupt and sets timers for the correct tick frequency. + */ +portBASE_TYPE xPortStartScheduler( void ); + +/* + * Undo any hardware/ISR setup that was performed by xPortStartScheduler() so + * the hardware is left in its original condition after the scheduler stops + * executing. + */ +void vPortEndScheduler( void ); + +#ifdef __cplusplus +} +#endif + +#endif /* PORTABLE_H */ + diff --git a/FreeRTOS/include/projdefs.h b/FreeRTOS/include/projdefs.h new file mode 100644 index 0000000..44a523a --- /dev/null +++ b/FreeRTOS/include/projdefs.h @@ -0,0 +1,66 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** +*/ + +#ifndef PROJDEFS_H +#define PROJDEFS_H + +/* Defines to prototype to which task functions must conform. */ +typedef void (*pdTASK_CODE)( void * ); + +#define pdTRUE ( 1 ) +#define pdFALSE ( 0 ) + +#define pdPASS ( 1 ) +#define pdFAIL ( 0 ) +#define errQUEUE_EMPTY ( 0 ) +#define errQUEUE_FULL ( 0 ) + +/* Error definitions. */ +#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 ) +#define errNO_TASK_TO_RUN ( -2 ) +#define errQUEUE_BLOCKED ( -4 ) +#define errQUEUE_YIELD ( -5 ) + +#endif /* PROJDEFS_H */ + + + diff --git a/FreeRTOS/include/queue.h b/FreeRTOS/include/queue.h new file mode 100644 index 0000000..be561ad --- /dev/null +++ b/FreeRTOS/include/queue.h @@ -0,0 +1,1222 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** +*/ + +#ifndef QUEUE_H +#define QUEUE_H + +#ifdef __cplusplus +extern "C" { +#endif +typedef void * xQueueHandle; + +/* For internal use only. */ +#define queueSEND_TO_BACK ( 0 ) +#define queueSEND_TO_FRONT ( 1 ) + + +/** + * queue. h + * 
+ xQueueHandle xQueueCreate(
+                              unsigned portBASE_TYPE uxQueueLength,
+                              unsigned portBASE_TYPE uxItemSize
+                          );
+ *
+ * + * Creates a new queue instance. This allocates the storage required by the + * new queue and returns a handle for the queue. + * + * @param uxQueueLength The maximum number of items that the queue can contain. + * + * @param uxItemSize The number of bytes each item in the queue will require. + * Items are queued by copy, not by reference, so this is the number of bytes + * that will be copied for each posted item. Each item on the queue must be + * the same size. + * + * @return If the queue is successfully create then a handle to the newly + * created queue is returned. If the queue cannot be created then 0 is + * returned. + * + * Example usage: + 
+ struct AMessage
+ {
+    portCHAR ucMessageID;
+    portCHAR ucData[ 20 ];
+ };
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+
+    // Create a queue capable of containing 10 unsigned long values.
+    xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );
+    if( xQueue1 == 0 )
+    {
+        // Queue was not created and must not be used.
+    }
+
+    // Create a queue capable of containing 10 pointers to AMessage structures.
+    // These should be passed by pointer as they contain a lot of data.
+    xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+    if( xQueue2 == 0 )
+    {
+        // Queue was not created and must not be used.
+    }
+
+    // ... Rest of task code.
+ }
+
+ * \defgroup xQueueCreate xQueueCreate + * \ingroup QueueManagement + */ +xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize ); + +/** + * queue. h + * 
+ portBASE_TYPE xQueueSendToToFront(
+                                   xQueueHandle xQueue,
+                                   const void * pvItemToQueue,
+                                   portTickType xTicksToWait
+                               );
+ *
+ * + * This is a macro that calls xQueueGenericSend(). + * + * Post an item to the front of a queue. The item is queued by copy, not by + * reference. This function must not be called from an interrupt service + * routine. See xQueueSendFromISR () for an alternative which may be used + * in an ISR. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0. The + * time is defined in tick periods so the constant portTICK_RATE_MS + * should be used to convert to real time if this is required. + * + * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. + * + * Example usage: + 
+ struct AMessage
+ {
+    portCHAR ucMessageID;
+    portCHAR ucData[ 20 ];
+ } xMessage;
+
+ unsigned portLONG ulVar = 10UL;
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+ struct AMessage *pxMessage;
+
+    // Create a queue capable of containing 10 unsigned long values.
+    xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );
+
+    // Create a queue capable of containing 10 pointers to AMessage structures.
+    // These should be passed by pointer as they contain a lot of data.
+    xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+
+    // ...
+
+    if( xQueue1 != 0 )
+    {
+        // Send an unsigned long.  Wait for 10 ticks for space to become
+        // available if necessary.
+        if( xQueueSendToFront( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
+        {
+            // Failed to post the message, even after 10 ticks.
+        }
+    }
+
+    if( xQueue2 != 0 )
+    {
+        // Send a pointer to a struct AMessage object.  Don't block if the
+        // queue is already full.
+        pxMessage = & xMessage;
+        xQueueSendToFront( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
+    }
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +#define xQueueSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_FRONT ) + +/** + * queue. h + * 
+ portBASE_TYPE xQueueSendToBack(
+                                   xQueueHandle xQueue,
+                                   const void * pvItemToQueue,
+                                   portTickType xTicksToWait
+                               );
+ *
+ * + * This is a macro that calls xQueueGenericSend(). + * + * Post an item to the back of a queue. The item is queued by copy, not by + * reference. This function must not be called from an interrupt service + * routine. See xQueueSendFromISR () for an alternative which may be used + * in an ISR. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0. The + * time is defined in tick periods so the constant portTICK_RATE_MS + * should be used to convert to real time if this is required. + * + * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. + * + * Example usage: + 
+ struct AMessage
+ {
+    portCHAR ucMessageID;
+    portCHAR ucData[ 20 ];
+ } xMessage;
+
+ unsigned portLONG ulVar = 10UL;
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+ struct AMessage *pxMessage;
+
+    // Create a queue capable of containing 10 unsigned long values.
+    xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );
+
+    // Create a queue capable of containing 10 pointers to AMessage structures.
+    // These should be passed by pointer as they contain a lot of data.
+    xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+
+    // ...
+
+    if( xQueue1 != 0 )
+    {
+        // Send an unsigned long.  Wait for 10 ticks for space to become
+        // available if necessary.
+        if( xQueueSendToBack( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
+        {
+            // Failed to post the message, even after 10 ticks.
+        }
+    }
+
+    if( xQueue2 != 0 )
+    {
+        // Send a pointer to a struct AMessage object.  Don't block if the
+        // queue is already full.
+        pxMessage = & xMessage;
+        xQueueSendToBack( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
+    }
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +#define xQueueSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK ) + +/** + * queue. h + * 
+ portBASE_TYPE xQueueSend(
+                              xQueueHandle xQueue,
+                              const void * pvItemToQueue,
+                              portTickType xTicksToWait
+                         );
+ *
+ * + * This is a macro that calls xQueueGenericSend(). It is included for + * backward compatibility with versions of FreeRTOS.org that did not + * include the xQueueSendToFront() and xQueueSendToBack() macros. It is + * equivalent to xQueueSendToBack(). + * + * Post an item on a queue. The item is queued by copy, not by reference. + * This function must not be called from an interrupt service routine. + * See xQueueSendFromISR () for an alternative which may be used in an ISR. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0. The + * time is defined in tick periods so the constant portTICK_RATE_MS + * should be used to convert to real time if this is required. + * + * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. + * + * Example usage: + 
+ struct AMessage
+ {
+    portCHAR ucMessageID;
+    portCHAR ucData[ 20 ];
+ } xMessage;
+
+ unsigned portLONG ulVar = 10UL;
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+ struct AMessage *pxMessage;
+
+    // Create a queue capable of containing 10 unsigned long values.
+    xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );
+
+    // Create a queue capable of containing 10 pointers to AMessage structures.
+    // These should be passed by pointer as they contain a lot of data.
+    xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+
+    // ...
+
+    if( xQueue1 != 0 )
+    {
+        // Send an unsigned long.  Wait for 10 ticks for space to become
+        // available if necessary.
+        if( xQueueSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10 ) != pdPASS )
+        {
+            // Failed to post the message, even after 10 ticks.
+        }
+    }
+
+    if( xQueue2 != 0 )
+    {
+        // Send a pointer to a struct AMessage object.  Don't block if the
+        // queue is already full.
+        pxMessage = & xMessage;
+        xQueueSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0 );
+    }
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +#define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK ) + + +/** + * queue. h + * 
+ portBASE_TYPE xQueueGenericSend(
+									xQueueHandle xQueue,
+									const void * pvItemToQueue,
+									portTickType xTicksToWait
+									portBASE_TYPE xCopyPosition
+								);
+ *
+ * + * It is preferred that the macros xQueueSend(), xQueueSendToFront() and + * xQueueSendToBack() are used in place of calling this function directly. + * + * Post an item on a queue. The item is queued by copy, not by reference. + * This function must not be called from an interrupt service routine. + * See xQueueSendFromISR () for an alternative which may be used in an ISR. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for space to become available on the queue, should it already + * be full. The call will return immediately if this is set to 0. The + * time is defined in tick periods so the constant portTICK_RATE_MS + * should be used to convert to real time if this is required. + * + * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the + * item at the back of the queue, or queueSEND_TO_FRONT to place the item + * at the front of the queue (for high priority messages). + * + * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL. + * + * Example usage: + 
+ struct AMessage
+ {
+    portCHAR ucMessageID;
+    portCHAR ucData[ 20 ];
+ } xMessage;
+
+ unsigned portLONG ulVar = 10UL;
+
+ void vATask( void *pvParameters )
+ {
+ xQueueHandle xQueue1, xQueue2;
+ struct AMessage *pxMessage;
+
+    // Create a queue capable of containing 10 unsigned long values.
+    xQueue1 = xQueueCreate( 10, sizeof( unsigned portLONG ) );
+
+    // Create a queue capable of containing 10 pointers to AMessage structures.
+    // These should be passed by pointer as they contain a lot of data.
+    xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
+
+    // ...
+
+    if( xQueue1 != 0 )
+    {
+        // Send an unsigned long.  Wait for 10 ticks for space to become
+        // available if necessary.
+        if( xQueueGenericSend( xQueue1, ( void * ) &ulVar, ( portTickType ) 10, queueSEND_TO_BACK ) != pdPASS )
+        {
+            // Failed to post the message, even after 10 ticks.
+        }
+    }
+
+    if( xQueue2 != 0 )
+    {
+        // Send a pointer to a struct AMessage object.  Don't block if the
+        // queue is already full.
+        pxMessage = & xMessage;
+        xQueueGenericSend( xQueue2, ( void * ) &pxMessage, ( portTickType ) 0, queueSEND_TO_BACK );
+    }
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueSend xQueueSend + * \ingroup QueueManagement + */ +signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ); + +/** + * queue. h + * 
+ portBASE_TYPE xQueuePeek(
+                             xQueueHandle xQueue,
+                             void *pvBuffer,
+                             portTickType xTicksToWait
+                         );
+ * + * This is a macro that calls the xQueueGenericReceive() function. + * + * Receive an item from a queue without removing the item from the queue. + * The item is received by copy so a buffer of adequate size must be + * provided. The number of bytes copied into the buffer was defined when + * the queue was created. + * + * Successfully received items remain on the queue so will be returned again + * by the next call, or a call to xQueueReceive(). + * + * This macro must not be used in an interrupt service routine. + * + * @param pxQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for an item to receive should the queue be empty at the time + * of the call. The time is defined in tick periods so the constant + * portTICK_RATE_MS should be used to convert to real time if this is required. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * Example usage: + 
+ struct AMessage
+ {
+    portCHAR ucMessageID;
+    portCHAR ucData[ 20 ];
+ } xMessage;
+
+ xQueueHandle xQueue;
+
+ // Task to create a queue and post a value.
+ void vATask( void *pvParameters )
+ {
+ struct AMessage *pxMessage;
+
+    // Create a queue capable of containing 10 pointers to AMessage structures.
+    // These should be passed by pointer as they contain a lot of data.
+    xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
+    if( xQueue == 0 )
+    {
+        // Failed to create the queue.
+    }
+
+    // ...
+
+    // Send a pointer to a struct AMessage object.  Don't block if the
+    // queue is already full.
+    pxMessage = & xMessage;
+    xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
+
+	// ... Rest of task code.
+ }
+
+ // Task to peek the data from the queue.
+ void vADifferentTask( void *pvParameters )
+ {
+ struct AMessage *pxRxedMessage;
+
+    if( xQueue != 0 )
+    {
+        // Peek a message on the created queue.  Block for 10 ticks if a
+        // message is not immediately available.
+        if( xQueuePeek( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
+        {
+            // pcRxedMessage now points to the struct AMessage variable posted
+            // by vATask, but the item still remains on the queue.
+        }
+    }
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueReceive xQueueReceive + * \ingroup QueueManagement + */ +#define xQueuePeek( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( xQueue, pvBuffer, xTicksToWait, pdTRUE ) + +/** + * queue. h + * 
+ portBASE_TYPE xQueueReceive(
+                                 xQueueHandle xQueue,
+                                 void *pvBuffer,
+                                 portTickType xTicksToWait
+                            );
+ * + * This is a macro that calls the xQueueGenericReceive() function. + * + * Receive an item from a queue. The item is received by copy so a buffer of + * adequate size must be provided. The number of bytes copied into the buffer + * was defined when the queue was created. + * + * Successfully received items are removed from the queue. + * + * This function must not be used in an interrupt service routine. See + * xQueueReceiveFromISR for an alternative that can. + * + * @param pxQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for an item to receive should the queue be empty at the time + * of the call. The time is defined in tick periods so the constant + * portTICK_RATE_MS should be used to convert to real time if this is required. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * Example usage: + 
+ struct AMessage
+ {
+    portCHAR ucMessageID;
+    portCHAR ucData[ 20 ];
+ } xMessage;
+
+ xQueueHandle xQueue;
+
+ // Task to create a queue and post a value.
+ void vATask( void *pvParameters )
+ {
+ struct AMessage *pxMessage;
+
+    // Create a queue capable of containing 10 pointers to AMessage structures.
+    // These should be passed by pointer as they contain a lot of data.
+    xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
+    if( xQueue == 0 )
+    {
+        // Failed to create the queue.
+    }
+
+    // ...
+
+    // Send a pointer to a struct AMessage object.  Don't block if the
+    // queue is already full.
+    pxMessage = & xMessage;
+    xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
+
+	// ... Rest of task code.
+ }
+
+ // Task to receive from the queue.
+ void vADifferentTask( void *pvParameters )
+ {
+ struct AMessage *pxRxedMessage;
+
+    if( xQueue != 0 )
+    {
+        // Receive a message on the created queue.  Block for 10 ticks if a
+        // message is not immediately available.
+        if( xQueueReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
+        {
+            // pcRxedMessage now points to the struct AMessage variable posted
+            // by vATask.
+        }
+    }
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueReceive xQueueReceive + * \ingroup QueueManagement + */ +#define xQueueReceive( xQueue, pvBuffer, xTicksToWait ) xQueueGenericReceive( xQueue, pvBuffer, xTicksToWait, pdFALSE ) + + +/** + * queue. h + * 
+ portBASE_TYPE xQueueGenericReceive(
+                                       xQueueHandle xQueue,
+                                       void *pvBuffer,
+                                       portTickType xTicksToWait
+                                       portBASE_TYPE xJustPeek
+                                    );
+ * + * It is preferred that the macro xQueueReceive() be used rather than calling + * this function directly. + * + * Receive an item from a queue. The item is received by copy so a buffer of + * adequate size must be provided. The number of bytes copied into the buffer + * was defined when the queue was created. + * + * This function must not be used in an interrupt service routine. See + * xQueueReceiveFromISR for an alternative that can. + * + * @param pxQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @param xTicksToWait The maximum amount of time the task should block + * waiting for an item to receive should the queue be empty at the time + * of the call. The time is defined in tick periods so the constant + * portTICK_RATE_MS should be used to convert to real time if this is required. + * + * @param xJustPeek When set to true, the item received from the queue is not + * actually removed from the queue - meaning a subsequent call to + * xQueueReceive() will return the same item. When set to false, the item + * being received from the queue is also removed from the queue. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * Example usage: + 
+ struct AMessage
+ {
+    portCHAR ucMessageID;
+    portCHAR ucData[ 20 ];
+ } xMessage;
+
+ xQueueHandle xQueue;
+
+ // Task to create a queue and post a value.
+ void vATask( void *pvParameters )
+ {
+ struct AMessage *pxMessage;
+
+    // Create a queue capable of containing 10 pointers to AMessage structures.
+    // These should be passed by pointer as they contain a lot of data.
+    xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
+    if( xQueue == 0 )
+    {
+        // Failed to create the queue.
+    }
+
+    // ...
+
+    // Send a pointer to a struct AMessage object.  Don't block if the
+    // queue is already full.
+    pxMessage = & xMessage;
+    xQueueSend( xQueue, ( void * ) &pxMessage, ( portTickType ) 0 );
+
+	// ... Rest of task code.
+ }
+
+ // Task to receive from the queue.
+ void vADifferentTask( void *pvParameters )
+ {
+ struct AMessage *pxRxedMessage;
+
+    if( xQueue != 0 )
+    {
+        // Receive a message on the created queue.  Block for 10 ticks if a
+        // message is not immediately available.
+        if( xQueueGenericReceive( xQueue, &( pxRxedMessage ), ( portTickType ) 10 ) )
+        {
+            // pcRxedMessage now points to the struct AMessage variable posted
+            // by vATask.
+        }
+    }
+
+	// ... Rest of task code.
+ }
+
+ * \defgroup xQueueReceive xQueueReceive + * \ingroup QueueManagement + */ +signed portBASE_TYPE xQueueGenericReceive( xQueueHandle xQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeek ); + +/** + * queue. h + * 
unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue );
+ * + * Return the number of messages stored in a queue. + * + * @param xQueue A handle to the queue being queried. + * + * @return The number of messages available in the queue. + * + * \page uxQueueMessagesWaiting uxQueueMessagesWaiting + * \ingroup QueueManagement + */ +unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle xQueue ); + +/** + * queue. h + * 
void vQueueDelete( xQueueHandle xQueue );
+ * + * Delete a queue - freeing all the memory allocated for storing of items + * placed on the queue. + * + * @param xQueue A handle to the queue to be deleted. + * + * \page vQueueDelete vQueueDelete + * \ingroup QueueManagement + */ +void vQueueDelete( xQueueHandle xQueue ); + +/** + * queue. h + * 
+ portBASE_TYPE xQueueSendToFrontFromISR(
+                                         xQueueHandle pxQueue,
+                                         const void *pvItemToQueue,
+                                         portBASE_TYPE xTaskPreviouslyWoken
+                                      );
+
+ * + * This is a macro that calls xQueueGenericSendFromISR(). + * + * Post an item to the front of a queue. It is safe to use this macro from + * within an interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param cTaskPreviouslyWoken This is included so an ISR can post onto + * the same queue multiple times from a single interrupt. The first call + * should always pass in pdFALSE. Subsequent calls should pass in + * the value returned from the previous call. See the file serial .c in the + * PC port for a good example of this mechanism. + * + * @return pdTRUE if a task was woken by posting onto the queue. This is + * used by the ISR to determine if a context switch may be required following + * the ISR. + * + * Example usage for buffered IO (where the ISR can obtain more than one value + * per call): + 
+ void vBufferISR( void )
+ {
+ portCHAR cIn;
+ portBASE_TYPE xTaskWokenByPost;
+
+    // We have not woken a task at the start of the ISR.
+    cTaskWokenByPost = pdFALSE;
+
+    // Loop until the buffer is empty.
+    do
+    {
+        // Obtain a byte from the buffer.
+        cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );						
+
+        // Post the byte.  The first time round the loop cTaskWokenByPost
+        // will be pdFALSE.  If the queue send causes a task to wake we do
+        // not want the task to run until we have finished the ISR, so
+        // xQueueSendFromISR does not cause a context switch.  Also we
+        // don't want subsequent posts to wake any other tasks, so we store
+        // the return value back into cTaskWokenByPost so xQueueSendFromISR
+        // knows not to wake any task the next iteration of the loop.
+        xTaskWokenByPost = xQueueSendToFrontFromISR( xRxQueue, &cIn, cTaskWokenByPost );
+
+    } while( portINPUT_BYTE( BUFFER_COUNT ) );
+
+    // Now the buffer is empty we can switch context if necessary.
+    if( cTaskWokenByPost )
+    {
+        taskYIELD ();
+    }
+ }
+
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +#define xQueueSendToFrontFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken, queueSEND_TO_FRONT ) + + +/** + * queue. h + * 
+ portBASE_TYPE xQueueSendToBackFromISR(
+                                         xQueueHandle pxQueue,
+                                         const void *pvItemToQueue,
+                                         portBASE_TYPE xTaskPreviouslyWoken
+                                      );
+
+ * + * This is a macro that calls xQueueGenericSendFromISR(). + * + * Post an item to the back of a queue. It is safe to use this macro from + * within an interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param cTaskPreviouslyWoken This is included so an ISR can post onto + * the same queue multiple times from a single interrupt. The first call + * should always pass in pdFALSE. Subsequent calls should pass in + * the value returned from the previous call. See the file serial .c in the + * PC port for a good example of this mechanism. + * + * @return pdTRUE if a task was woken by posting onto the queue. This is + * used by the ISR to determine if a context switch may be required following + * the ISR. + * + * Example usage for buffered IO (where the ISR can obtain more than one value + * per call): + 
+ void vBufferISR( void )
+ {
+ portCHAR cIn;
+ portBASE_TYPE xTaskWokenByPost;
+
+    // We have not woken a task at the start of the ISR.
+    cTaskWokenByPost = pdFALSE;
+
+    // Loop until the buffer is empty.
+    do
+    {
+        // Obtain a byte from the buffer.
+        cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );						
+
+        // Post the byte.  The first time round the loop cTaskWokenByPost
+        // will be pdFALSE.  If the queue send causes a task to wake we do
+        // not want the task to run until we have finished the ISR, so
+        // xQueueSendFromISR does not cause a context switch.  Also we
+        // don't want subsequent posts to wake any other tasks, so we store
+        // the return value back into cTaskWokenByPost so xQueueSendFromISR
+        // knows not to wake any task the next iteration of the loop.
+        xTaskWokenByPost = xQueueSendToBackFromISR( xRxQueue, &cIn, cTaskWokenByPost );
+
+    } while( portINPUT_BYTE( BUFFER_COUNT ) );
+
+    // Now the buffer is empty we can switch context if necessary.
+    if( cTaskWokenByPost )
+    {
+        taskYIELD ();
+    }
+ }
+
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +#define xQueueSendToBackFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken, queueSEND_TO_BACK ) + + +/** + * queue. h + * 
+ portBASE_TYPE xQueueSendFromISR(
+                                     xQueueHandle pxQueue,
+                                     const void *pvItemToQueue,
+                                     portBASE_TYPE xTaskPreviouslyWoken
+                                );
+
+ * + * This is a macro that calls xQueueGenericSendFromISR(). It is included + * for backward compatibility with versions of FreeRTOS.org that did not + * include the xQueueSendToBackFromISR() and xQueueSendToFrontFromISR() + * macros. + * + * Post an item to the back of a queue. It is safe to use this function from + * within an interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param cTaskPreviouslyWoken This is included so an ISR can post onto + * the same queue multiple times from a single interrupt. The first call + * should always pass in pdFALSE. Subsequent calls should pass in + * the value returned from the previous call. See the file serial .c in the + * PC port for a good example of this mechanism. + * + * @return pdTRUE if a task was woken by posting onto the queue. This is + * used by the ISR to determine if a context switch may be required following + * the ISR. + * + * Example usage for buffered IO (where the ISR can obtain more than one value + * per call): + 
+ void vBufferISR( void )
+ {
+ portCHAR cIn;
+ portBASE_TYPE xTaskWokenByPost;
+
+    // We have not woken a task at the start of the ISR.
+    cTaskWokenByPost = pdFALSE;
+
+    // Loop until the buffer is empty.
+    do
+    {
+        // Obtain a byte from the buffer.
+        cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );						
+
+        // Post the byte.  The first time round the loop cTaskWokenByPost
+        // will be pdFALSE.  If the queue send causes a task to wake we do
+        // not want the task to run until we have finished the ISR, so
+        // xQueueSendFromISR does not cause a context switch.  Also we
+        // don't want subsequent posts to wake any other tasks, so we store
+        // the return value back into cTaskWokenByPost so xQueueSendFromISR
+        // knows not to wake any task the next iteration of the loop.
+        xTaskWokenByPost = xQueueSendFromISR( xRxQueue, &cIn, cTaskWokenByPost );
+
+    } while( portINPUT_BYTE( BUFFER_COUNT ) );
+
+    // Now the buffer is empty we can switch context if necessary.
+    if( cTaskWokenByPost )
+    {
+        taskYIELD ();
+    }
+ }
+
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +#define xQueueSendFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken ) xQueueGenericSendFromISR( pxQueue, pvItemToQueue, xTaskPreviouslyWoken, queueSEND_TO_BACK ) + +/** + * queue. h + * 
+ portBASE_TYPE xQueueGenericSendFromISR(
+                                           xQueueHandle pxQueue,
+                                           const void *pvItemToQueue,
+                                           portBASE_TYPE xTaskPreviouslyWoken
+										   portBASE_TYPE xCopyPosition
+                                       );
+
+ * + * It is preferred that the macros xQueueSendFromISR(), + * xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place + * of calling this function directly. + * + * Post an item on a queue. It is safe to use this function from within an + * interrupt service routine. + * + * Items are queued by copy not reference so it is preferable to only + * queue small items, especially when called from an ISR. In most cases + * it would be preferable to store a pointer to the item being queued. + * + * @param xQueue The handle to the queue on which the item is to be posted. + * + * @param pvItemToQueue A pointer to the item that is to be placed on the + * queue. The size of the items the queue will hold was defined when the + * queue was created, so this many bytes will be copied from pvItemToQueue + * into the queue storage area. + * + * @param cTaskPreviouslyWoken This is included so an ISR can post onto + * the same queue multiple times from a single interrupt. The first call + * should always pass in pdFALSE. Subsequent calls should pass in + * the value returned from the previous call. See the file serial .c in the + * PC port for a good example of this mechanism. + * + * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the + * item at the back of the queue, or queueSEND_TO_FRONT to place the item + * at the front of the queue (for high priority messages). + * + * @return pdTRUE if a task was woken by posting onto the queue. This is + * used by the ISR to determine if a context switch may be required following + * the ISR. + * + * Example usage for buffered IO (where the ISR can obtain more than one value + * per call): + 
+ void vBufferISR( void )
+ {
+ portCHAR cIn;
+ portBASE_TYPE xTaskWokenByPost;
+
+    // We have not woken a task at the start of the ISR.
+    cTaskWokenByPost = pdFALSE;
+
+    // Loop until the buffer is empty.
+    do
+    {
+        // Obtain a byte from the buffer.
+        cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );						
+
+        // Post the byte.  The first time round the loop cTaskWokenByPost
+        // will be pdFALSE.  If the queue send causes a task to wake we do
+        // not want the task to run until we have finished the ISR, so
+        // xQueueSendFromISR does not cause a context switch.  Also we
+        // don't want subsequent posts to wake any other tasks, so we store
+        // the return value back into cTaskWokenByPost so xQueueSendFromISR
+        // knows not to wake any task the next iteration of the loop.
+        xTaskWokenByPost = xQueueGenericSendFromISR( xRxQueue, &cIn, cTaskWokenByPost, queueSEND_TO_BACK );
+
+    } while( portINPUT_BYTE( BUFFER_COUNT ) );
+
+    // Now the buffer is empty we can switch context if necessary.
+    if( cTaskWokenByPost )
+    {
+        taskYIELD ();
+    }
+ }
+
+ * + * \defgroup xQueueSendFromISR xQueueSendFromISR + * \ingroup QueueManagement + */ +signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE xTaskPreviouslyWoken, portBASE_TYPE xCopyPosition ); + +/** + * queue. h + * 
+ portBASE_TYPE xQueueReceiveFromISR(
+                                       xQueueHandle pxQueue,
+                                       void *pvBuffer,
+                                       portBASE_TYPE *pxTaskWoken
+                                   );
+ *
+ * + * Receive an item from a queue. It is safe to use this function from within an + * interrupt service routine. + * + * @param pxQueue The handle to the queue from which the item is to be + * received. + * + * @param pvBuffer Pointer to the buffer into which the received item will + * be copied. + * + * @param pxTaskWoken A task may be blocked waiting for space to become + * available on the queue. If xQueueReceiveFromISR causes such a task to + * unblock *pxTaskWoken will get set to pdTRUE, otherwise *pxTaskWoken will + * remain unchanged. + * + * @return pdTRUE if an item was successfully received from the queue, + * otherwise pdFALSE. + * + * Example usage: + 
+
+ xQueueHandle xQueue;
+
+ // Function to create a queue and post some values.
+ void vAFunction( void *pvParameters )
+ {
+ portCHAR cValueToPost;
+ const portTickType xBlockTime = ( portTickType )0xff;
+
+    // Create a queue capable of containing 10 characters.
+    xQueue = xQueueCreate( 10, sizeof( portCHAR ) );
+    if( xQueue == 0 )
+    {
+        // Failed to create the queue.
+    }
+
+    // ...
+
+    // Post some characters that will be used within an ISR.  If the queue
+    // is full then this task will block for xBlockTime ticks.
+    cValueToPost = 'a';
+    xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
+    cValueToPost = 'b';
+    xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
+
+    // ... keep posting characters ... this task may block when the queue
+    // becomes full.
+
+    cValueToPost = 'c';
+    xQueueSend( xQueue, ( void * ) &cValueToPost, xBlockTime );
+ }
+
+ // ISR that outputs all the characters received on the queue.
+ void vISR_Routine( void )
+ {
+ portBASE_TYPE xTaskWokenByReceive = pdFALSE;
+ portCHAR cRxedChar;
+
+    while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) )
+    {
+        // A character was received.  Output the character now.
+        vOutputCharacter( cRxedChar );
+
+        // If removing the character from the queue woke the task that was
+        // posting onto the queue cTaskWokenByReceive will have been set to
+        // pdTRUE.  No matter how many times this loop iterates only one
+        // task will be woken.
+    }
+
+    if( cTaskWokenByPost != ( portCHAR ) pdFALSE;
+    {
+        taskYIELD ();
+    }
+ }
+
+ * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR + * \ingroup QueueManagement + */ +signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, const void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken ); + +/* + * xQueueAltGenericSend() is an alternative version of xQueueGenericSend(). + * Likewise xQueueAltGenericReceive() is an alternative version of + * xQueueGenericReceive(). + * + * The source code that implements the alternative (Alt) API is much + * simpler because it executes everything from within a critical section. + * This is the approach taken by many other RTOSes, but FreeRTOS.org has the + * preferred fully featured API too. The fully featured API has more + * complex code that takes longer to execute, but makes much less use of + * critical sections. Therefore the alternative API sacrifices interrupt + * responsiveness to gain execution speed, whereas the fully featured API + * sacrifices execution speed to ensure better interrupt responsiveness. + */ +signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ); +signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ); +#define xQueueAltSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_FRONT ) +#define xQueueAltSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueAltGenericSend( xQueue, pvItemToQueue, xTicksToWait, queueSEND_TO_BACK ) +#define xQueueAltReceive( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( xQueue, pvBuffer, xTicksToWait, pdFALSE ) +#define xQueueAltPeek( xQueue, pvBuffer, xTicksToWait ) xQueueAltGenericReceive( xQueue, pvBuffer, xTicksToWait, pdTRUE ) + +/* + * The functions defined above are for passing data to and from tasks. The + * functions below are the equivalents for passing data to and from + * co-routines. + * + * These functions are called from the co-routine macro implementation and + * should not be called directly from application code. Instead use the macro + * wrappers defined within croutine.h. + */ +signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ); +signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken ); +signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ); +signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ); + +/* + * For internal use only. Use xSemaphoreCreateMutex() or + * xSemaphoreCreateCounting() instead of calling these functions directly. + */ +xQueueHandle xQueueCreateMutex( void ); +xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ); + +/* + * For internal use only. Use xSemaphoreTakeMutexRecursive() or + * xSemaphoreGiveMutexRecursive() instead of calling these functions directly. + */ +portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime ); +portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex ); + +#ifdef __cplusplus +} +#endif + +#endif /* QUEUE_H */ + diff --git a/FreeRTOS/include/semphr.h b/FreeRTOS/include/semphr.h new file mode 100644 index 0000000..c9641e3 --- /dev/null +++ b/FreeRTOS/include/semphr.h @@ -0,0 +1,698 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** +*/ + +#ifndef SEMAPHORE_H +#define SEMAPHORE_H + +#include "queue.h" + +typedef xQueueHandle xSemaphoreHandle; + +#define semBINARY_SEMAPHORE_QUEUE_LENGTH ( ( unsigned portCHAR ) 1 ) +#define semSEMAPHORE_QUEUE_ITEM_LENGTH ( ( unsigned portCHAR ) 0 ) +#define semGIVE_BLOCK_TIME ( ( portTickType ) 0 ) + + +/** + * semphr. h + * 
vSemaphoreCreateBinary( xSemaphoreHandle xSemaphore )
+ * + * Macro that implements a semaphore by using the existing queue mechanism. + * The queue length is 1 as this is a binary semaphore. The data size is 0 + * as we don't want to actually store any data - we just want to know if the + * queue is empty or full. + * + * This type of semaphore can be used for pure synchronisation between tasks or + * between an interrupt and a task. The semaphore need not be given back once + * obtained, so one task/interrupt can continuously 'give' the semaphore while + * another continuously 'takes' the semaphore. For this reason this type of + * semaphore does not use a priority inheritance mechanism. For an alternative + * that does use priority inheritance see xSemaphoreCreateMutex(). + * + * @param xSemaphore Handle to the created semaphore. Should be of type xSemaphoreHandle. + * + * Example usage: + 
+ xSemaphoreHandle xSemaphore;
+
+ void vATask( void * pvParameters )
+ {
+    // Semaphore cannot be used before a call to vSemaphoreCreateBinary ().
+    // This is a macro so pass the variable in directly.
+    vSemaphoreCreateBinary( xSemaphore );
+
+    if( xSemaphore != NULL )
+    {
+        // The semaphore was created successfully.
+        // The semaphore can now be used.  
+    }
+ }
+
+ * \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary + * \ingroup Semaphores + */ +#define vSemaphoreCreateBinary( xSemaphore ) { \ + xSemaphore = xQueueCreate( ( unsigned portBASE_TYPE ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH ); \ + if( xSemaphore != NULL ) \ + { \ + xSemaphoreGive( xSemaphore ); \ + } \ + } + +/** + * semphr. h + * xSemaphoreTake( + * xSemaphoreHandle xSemaphore, + * portTickType xBlockTime + * ) + * + * Macro to obtain a semaphore. The semaphore must have previously been + * created with a call to vSemaphoreCreateBinary(), xSemaphoreCreateMutex() or + * xSemaphoreCreateCounting(). + * + * @param xSemaphore A handle to the semaphore being taken - obtained when + * the semaphore was created. + * + * @param xBlockTime The time in ticks to wait for the semaphore to become + * available. The macro portTICK_RATE_MS can be used to convert this to a + * real time. A block time of zero can be used to poll the semaphore. A block + * time of portMAX_DELAY can be used to block indefinitely (provided + * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h). + * + * @return pdTRUE if the semaphore was obtained. pdFALSE + * if xBlockTime expired without the semaphore becoming available. + * + * Example usage: + 
+ xSemaphoreHandle xSemaphore = NULL;
+
+ // A task that creates a semaphore.
+ void vATask( void * pvParameters )
+ {
+    // Create the semaphore to guard a shared resource.
+    vSemaphoreCreateBinary( xSemaphore );
+ }
+
+ // A task that uses the semaphore.
+ void vAnotherTask( void * pvParameters )
+ {
+    // ... Do other things.
+
+    if( xSemaphore != NULL )
+    {
+        // See if we can obtain the semaphore.  If the semaphore is not available
+        // wait 10 ticks to see if it becomes free.	
+        if( xSemaphoreTake( xSemaphore, ( portTickType ) 10 ) == pdTRUE )
+        {
+            // We were able to obtain the semaphore and can now access the
+            // shared resource.
+
+            // ...
+
+            // We have finished accessing the shared resource.  Release the 
+            // semaphore.
+            xSemaphoreGive( xSemaphore );
+        }
+        else
+        {
+            // We could not obtain the semaphore and can therefore not access
+            // the shared resource safely.
+        }
+    }
+ }
+
+ * \defgroup xSemaphoreTake xSemaphoreTake + * \ingroup Semaphores + */ +#define xSemaphoreTake( xSemaphore, xBlockTime ) xQueueGenericReceive( ( xQueueHandle ) xSemaphore, NULL, xBlockTime, pdFALSE ) + +/** + * semphr. h + * xSemaphoreTakeRecursive( + * xSemaphoreHandle xMutex, + * portTickType xBlockTime + * ) + * + * Macro to recursively obtain, or 'take', a mutex type semaphore. + * The mutex must have previously been created using a call to + * xSemaphoreCreateRecursiveMutex(); + * + * configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this + * macro to be available. + * + * This macro must not be used on mutexes created using xSemaphoreCreateMutex(). + * + * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex + * doesn't become available again until the owner has called + * xSemaphoreGiveRecursive() for each successful 'take' request. For example, + * if a task successfully 'takes' the same mutex 5 times then the mutex will + * not be available to any other task until it has also 'given' the mutex back + * exactly five times. + * + * @param xMutex A handle to the mutex being obtained. This is the + * handle returned by xSemaphoreCreateRecursiveMutex(); + * + * @param xBlockTime The time in ticks to wait for the semaphore to become + * available. The macro portTICK_RATE_MS can be used to convert this to a + * real time. A block time of zero can be used to poll the semaphore. If + * the task already owns the semaphore then xSemaphoreTakeRecursive() will + * return immediately no matter what the value of xBlockTime. + * + * @return pdTRUE if the semaphore was obtained. pdFALSE if xBlockTime + * expired without the semaphore becoming available. + * + * Example usage: + 
+ xSemaphoreHandle xMutex = NULL;
+
+ // A task that creates a mutex.
+ void vATask( void * pvParameters )
+ {
+    // Create the mutex to guard a shared resource.
+    xMutex = xSemaphoreCreateRecursiveMutex();
+ }
+
+ // A task that uses the mutex.
+ void vAnotherTask( void * pvParameters )
+ {
+    // ... Do other things.
+
+    if( xMutex != NULL )
+    {
+        // See if we can obtain the mutex.  If the mutex is not available
+        // wait 10 ticks to see if it becomes free.	
+        if( xSemaphoreTakeRecursive( xSemaphore, ( portTickType ) 10 ) == pdTRUE )
+        {
+            // We were able to obtain the mutex and can now access the
+            // shared resource.
+
+            // ...
+            // For some reason due to the nature of the code further calls to 
+			// xSemaphoreTakeRecursive() are made on the same mutex.  In real
+			// code these would not be just sequential calls as this would make
+			// no sense.  Instead the calls are likely to be buried inside
+			// a more complex call structure.
+            xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
+            xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
+
+            // The mutex has now been 'taken' three times, so will not be 
+			// available to another task until it has also been given back
+			// three times.  Again it is unlikely that real code would have
+			// these calls sequentially, but instead buried in a more complex
+			// call structure.  This is just for illustrative purposes.
+            xSemaphoreGiveRecursive( xMutex );
+			xSemaphoreGiveRecursive( xMutex );
+			xSemaphoreGiveRecursive( xMutex );
+
+			// Now the mutex can be taken by other tasks.
+        }
+        else
+        {
+            // We could not obtain the mutex and can therefore not access
+            // the shared resource safely.
+        }
+    }
+ }
+
+ * \defgroup xSemaphoreTakeRecursive xSemaphoreTakeRecursive + * \ingroup Semaphores + */ +#define xSemaphoreTakeRecursive( xMutex, xBlockTime ) xQueueTakeMutexRecursive( xMutex, xBlockTime ) + + +/* + * xSemaphoreAltTake() is an alternative version of xSemaphoreTake(). + * + * The source code that implements the alternative (Alt) API is much + * simpler because it executes everything from within a critical section. + * This is the approach taken by many other RTOSes, but FreeRTOS.org has the + * preferred fully featured API too. The fully featured API has more + * complex code that takes longer to execute, but makes much less use of + * critical sections. Therefore the alternative API sacrifices interrupt + * responsiveness to gain execution speed, whereas the fully featured API + * sacrifices execution speed to ensure better interrupt responsiveness. + */ +#define xSemaphoreAltTake( xSemaphore, xBlockTime ) xQueueAltGenericReceive( ( xQueueHandle ) xSemaphore, NULL, xBlockTime, pdFALSE ) + +/** + * semphr. h + * 
xSemaphoreGive( xSemaphoreHandle xSemaphore )
+ * + * Macro to release a semaphore. The semaphore must have previously been + * created with a call to vSemaphoreCreateBinary(), xSemaphoreCreateMutex() or + * xSemaphoreCreateCounting(). and obtained using sSemaphoreTake(). + * + * This macro must not be used from an ISR. See xSemaphoreGiveFromISR () for + * an alternative which can be used from an ISR. + * + * This macro must also not be used on semaphores created using + * xSemaphoreCreateRecursiveMutex(). + * + * @param xSemaphore A handle to the semaphore being released. This is the + * handle returned when the semaphore was created. + * + * @return pdTRUE if the semaphore was released. pdFALSE if an error occurred. + * Semaphores are implemented using queues. An error can occur if there is + * no space on the queue to post a message - indicating that the + * semaphore was not first obtained correctly. + * + * Example usage: + 
+ xSemaphoreHandle xSemaphore = NULL;
+
+ void vATask( void * pvParameters )
+ {
+    // Create the semaphore to guard a shared resource.
+    vSemaphoreCreateBinary( xSemaphore );
+
+    if( xSemaphore != NULL )
+    {
+        if( xSemaphoreGive( xSemaphore ) != pdTRUE )
+        {
+            // We would expect this call to fail because we cannot give
+            // a semaphore without first "taking" it!
+        }
+
+        // Obtain the semaphore - don't block if the semaphore is not
+        // immediately available.
+        if( xSemaphoreTake( xSemaphore, ( portTickType ) 0 ) )
+        {
+            // We now have the semaphore and can access the shared resource.
+
+            // ...
+
+            // We have finished accessing the shared resource so can free the
+            // semaphore.
+            if( xSemaphoreGive( xSemaphore ) != pdTRUE )
+            {
+                // We would not expect this call to fail because we must have
+                // obtained the semaphore to get here.
+            }
+        }
+    }
+ }
+
+ * \defgroup xSemaphoreGive xSemaphoreGive + * \ingroup Semaphores + */ +#define xSemaphoreGive( xSemaphore ) xQueueGenericSend( ( xQueueHandle ) xSemaphore, NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK ) + +/** + * semphr. h + * 
xSemaphoreGiveRecursive( xSemaphoreHandle xMutex )
+ * + * Macro to recursively release, or 'give', a mutex type semaphore. + * The mutex must have previously been created using a call to + * xSemaphoreCreateRecursiveMutex(); + * + * configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this + * macro to be available. + * + * This macro must not be used on mutexes created using xSemaphoreCreateMutex(). + * + * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex + * doesn't become available again until the owner has called + * xSemaphoreGiveRecursive() for each successful 'take' request. For example, + * if a task successfully 'takes' the same mutex 5 times then the mutex will + * not be available to any other task until it has also 'given' the mutex back + * exactly five times. + * + * @param xMutex A handle to the mutex being released, or 'given'. This is the + * handle returned by xSemaphoreCreateMutex(); + * + * @return pdTRUE if the semaphore was given. + * + * Example usage: + 
+ xSemaphoreHandle xMutex = NULL;
+
+ // A task that creates a mutex.
+ void vATask( void * pvParameters )
+ {
+    // Create the mutex to guard a shared resource.
+    xMutex = xSemaphoreCreateRecursiveMutex();
+ }
+
+ // A task that uses the mutex.
+ void vAnotherTask( void * pvParameters )
+ {
+    // ... Do other things.
+
+    if( xMutex != NULL )
+    {
+        // See if we can obtain the mutex.  If the mutex is not available
+        // wait 10 ticks to see if it becomes free.	
+        if( xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 ) == pdTRUE )
+        {
+            // We were able to obtain the mutex and can now access the
+            // shared resource.
+
+            // ...
+            // For some reason due to the nature of the code further calls to 
+			// xSemaphoreTakeRecursive() are made on the same mutex.  In real
+			// code these would not be just sequential calls as this would make
+			// no sense.  Instead the calls are likely to be buried inside
+			// a more complex call structure.
+            xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
+            xSemaphoreTakeRecursive( xMutex, ( portTickType ) 10 );
+
+            // The mutex has now been 'taken' three times, so will not be 
+			// available to another task until it has also been given back
+			// three times.  Again it is unlikely that real code would have
+			// these calls sequentially, it would be more likely that the calls
+			// to xSemaphoreGiveRecursive() would be called as a call stack
+			// unwound.  This is just for demonstrative purposes.
+            xSemaphoreGiveRecursive( xMutex );
+			xSemaphoreGiveRecursive( xMutex );
+			xSemaphoreGiveRecursive( xMutex );
+
+			// Now the mutex can be taken by other tasks.
+        }
+        else
+        {
+            // We could not obtain the mutex and can therefore not access
+            // the shared resource safely.
+        }
+    }
+ }
+
+ * \defgroup xSemaphoreGiveRecursive xSemaphoreGiveRecursive + * \ingroup Semaphores + */ +#define xSemaphoreGiveRecursive( xMutex ) xQueueGiveMutexRecursive( xMutex ) + +/* + * xSemaphoreAltGive() is an alternative version of xSemaphoreGive(). + * + * The source code that implements the alternative (Alt) API is much + * simpler because it executes everything from within a critical section. + * This is the approach taken by many other RTOSes, but FreeRTOS.org has the + * preferred fully featured API too. The fully featured API has more + * complex code that takes longer to execute, but makes much less use of + * critical sections. Therefore the alternative API sacrifices interrupt + * responsiveness to gain execution speed, whereas the fully featured API + * sacrifices execution speed to ensure better interrupt responsiveness. + */ +#define xSemaphoreAltGive( xSemaphore ) xQueueAltGenericSend( ( xQueueHandle ) xSemaphore, NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK ) + +/** + * semphr. h + * 
+ xSemaphoreGiveFromISR( 
+                          xSemaphoreHandle xSemaphore, 
+                          portSHORT sTaskPreviouslyWoken 
+                      )
+ * + * Macro to release a semaphore. The semaphore must have previously been + * created with a call to vSemaphoreCreateBinary() or xSemaphoreCreateCounting(). + * + * Mutex type semaphores (those created using a call to xSemaphoreCreateMutex()) + * must not be used with this macro. + * + * This macro can be used from an ISR. + * + * @param xSemaphore A handle to the semaphore being released. This is the + * handle returned when the semaphore was created. + * + * @param sTaskPreviouslyWoken This is included so an ISR can make multiple calls + * to xSemaphoreGiveFromISR () from a single interrupt. The first call + * should always pass in pdFALSE. Subsequent calls should pass in + * the value returned from the previous call. See the file serial .c in the + * PC port for a good example of using xSemaphoreGiveFromISR (). + * + * @return pdTRUE if a task was woken by releasing the semaphore. This is + * used by the ISR to determine if a context switch may be required following + * the ISR. + * + * Example usage: + 
+ #define LONG_TIME 0xffff
+ #define TICKS_TO_WAIT	10
+ xSemaphoreHandle xSemaphore = NULL;
+
+ // Repetitive task.
+ void vATask( void * pvParameters )
+ {
+    for( ;; )
+    {
+        // We want this task to run every 10 ticks of a timer.  The semaphore 
+        // was created before this task was started.
+
+        // Block waiting for the semaphore to become available.
+        if( xSemaphoreTake( xSemaphore, LONG_TIME ) == pdTRUE )
+        {
+            // It is time to execute.
+
+            // ...
+
+            // We have finished our task.  Return to the top of the loop where
+            // we will block on the semaphore until it is time to execute 
+            // again.  Note when using the semaphore for synchronisation with an
+			// ISR in this manner there is no need to 'give' the semaphore back.
+        }
+    }
+ }
+
+ // Timer ISR
+ void vTimerISR( void * pvParameters )
+ {
+ static unsigned portCHAR ucLocalTickCount = 0;
+ static portBASE_TYPE xTaskWoken;
+
+    // A timer tick has occurred.
+
+    // ... Do other time functions.
+
+    // Is it time for vATask () to run?
+	xTaskWoken = pdFALSE;
+    ucLocalTickCount++;
+    if( ucLocalTickCount >= TICKS_TO_WAIT )
+    {
+        // Unblock the task by releasing the semaphore.
+        xTaskWoken = xSemaphoreGiveFromISR( xSemaphore, xTaskWoken );
+
+        // Reset the count so we release the semaphore again in 10 ticks time.
+        ucLocalTickCount = 0;
+    }
+
+    if( xTaskWoken != pdFALSE )
+    {
+        // We can force a context switch here.  Context switching from an
+        // ISR uses port specific syntax.  Check the demo task for your port
+        // to find the syntax required.
+    }
+ }
+
+ * \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR + * \ingroup Semaphores + */ +#define xSemaphoreGiveFromISR( xSemaphore, xTaskPreviouslyWoken ) xQueueGenericSendFromISR( ( xQueueHandle ) xSemaphore, NULL, xTaskPreviouslyWoken, queueSEND_TO_BACK ) + +/** + * semphr. h + * 
xSemaphoreHandle xSemaphoreCreateMutex( void )
+ * + * Macro that implements a mutex semaphore by using the existing queue + * mechanism. + * + * Mutexes created using this macro can be accessed using the xSemaphoreTake() + * and xSemaphoreGive() macros. The xSemaphoreTakeRecursive() and + * xSemaphoreGiveRecursive() macros should not be used. + * + * This type of semaphore uses a priority inheritance mechanism so a task + * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the + * semaphore it is no longer required. + * + * Mutex type semaphores cannot be used from within interrupt service routines. + * + * See xSemaphoreCreateBinary() for an alternative implementation that can be + * used for pure synchronisation (where one task or interrupt always 'gives' the + * semaphore and another always 'takes' the semaphore) and from within interrupt + * service routines. + * + * @return xSemaphore Handle to the created mutex semaphore. Should be of type + * xSemaphoreHandle. + * + * Example usage: + 
+ xSemaphoreHandle xSemaphore;
+
+ void vATask( void * pvParameters )
+ {
+    // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
+    // This is a macro so pass the variable in directly.
+    xSemaphore = xSemaphoreCreateMutex();
+
+    if( xSemaphore != NULL )
+    {
+        // The semaphore was created successfully.
+        // The semaphore can now be used.  
+    }
+ }
+
+ * \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex + * \ingroup Semaphores + */ +#define xSemaphoreCreateMutex() xQueueCreateMutex() + + +/** + * semphr. h + * 
xSemaphoreHandle xSemaphoreCreateRecursiveMutex( void )
+ * + * Macro that implements a recursive mutex by using the existing queue + * mechanism. + * + * Mutexes created using this macro can be accessed using the + * xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() macros. The + * xSemaphoreTake() and xSemaphoreGive() macros should not be used. + * + * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex + * doesn't become available again until the owner has called + * xSemaphoreGiveRecursive() for each successful 'take' request. For example, + * if a task successfully 'takes' the same mutex 5 times then the mutex will + * not be available to any other task until it has also 'given' the mutex back + * exactly five times. + * + * This type of semaphore uses a priority inheritance mechanism so a task + * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the + * semaphore it is no longer required. + * + * Mutex type semaphores cannot be used from within interrupt service routines. + * + * See xSemaphoreCreateBinary() for an alternative implementation that can be + * used for pure synchronisation (where one task or interrupt always 'gives' the + * semaphore and another always 'takes' the semaphore) and from within interrupt + * service routines. + * + * @return xSemaphore Handle to the created mutex semaphore. Should be of type + * xSemaphoreHandle. + * + * Example usage: + 
+ xSemaphoreHandle xSemaphore;
+
+ void vATask( void * pvParameters )
+ {
+    // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
+    // This is a macro so pass the variable in directly.
+    xSemaphore = xSemaphoreCreateRecursiveMutex();
+
+    if( xSemaphore != NULL )
+    {
+        // The semaphore was created successfully.
+        // The semaphore can now be used.  
+    }
+ }
+
+ * \defgroup vSemaphoreCreateMutex vSemaphoreCreateMutex + * \ingroup Semaphores + */ +#define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex() + +/** + * semphr. h + * 
xSemaphoreHandle xSemaphoreCreateCounting( unsigned portBASE_TYPE uxMaxCount, unsigned portBASE_TYPE uxInitialCount )
+ * + * Macro that creates a counting semaphore by using the existing + * queue mechanism. + * + * Counting semaphores are typically used for two things: + * + * 1) Counting events. + * + * In this usage scenario an event handler will 'give' a semaphore each time + * an event occurs (incrementing the semaphore count value), and a handler + * task will 'take' a semaphore each time it processes an event + * (decrementing the semaphore count value). The count value is therefore + * the difference between the number of events that have occurred and the + * number that have been processed. In this case it is desirable for the + * initial count value to be zero. + * + * 2) Resource management. + * + * In this usage scenario the count value indicates the number of resources + * available. To obtain control of a resource a task must first obtain a + * semaphore - decrementing the semaphore count value. When the count value + * reaches zero there are no free resources. When a task finishes with the + * resource it 'gives' the semaphore back - incrementing the semaphore count + * value. In this case it is desirable for the initial count value to be + * equal to the maximum count value, indicating that all resources are free. + * + * @param uxMaxCount The maximum count value that can be reached. When the + * semaphore reaches this value it can no longer be 'given'. + * + * @param uxInitialCount The count value assigned to the semaphore when it is + * created. + * + * @return Handle to the created semaphore. Null if the semaphore could not be + * created. + * + * Example usage: + 
+ xSemaphoreHandle xSemaphore;
+
+ void vATask( void * pvParameters )
+ {
+ xSemaphoreHandle xSemaphore = NULL;
+
+    // Semaphore cannot be used before a call to xSemaphoreCreateCounting().
+    // The max value to which the semaphore can count should be 10, and the
+    // initial value assigned to the count should be 0.
+    xSemaphore = xSemaphoreCreateCounting( 10, 0 );
+
+    if( xSemaphore != NULL )
+    {
+        // The semaphore was created successfully.
+        // The semaphore can now be used.  
+    }
+ }
+
+ * \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting + * \ingroup Semaphores + */ +#define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( uxMaxCount, uxInitialCount ) + + +#endif /* SEMAPHORE_H */ + + diff --git a/FreeRTOS/include/task.h b/FreeRTOS/include/task.h new file mode 100644 index 0000000..595d6ab --- /dev/null +++ b/FreeRTOS/include/task.h @@ -0,0 +1,995 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** +*/ + +/* +Changes since V4.3.1: + + + Added xTaskGetSchedulerState() function. +*/ + +#ifndef TASK_H +#define TASK_H + +#include "portable.h" +#include "list.h" + +#ifdef __cplusplus +extern "C" { +#endif +/*----------------------------------------------------------- + * MACROS AND DEFINITIONS + *----------------------------------------------------------*/ + +#define tskKERNEL_VERSION_NUMBER "V4.7.2" + +/** + * task. h + * + * Type by which tasks are referenced. For example, a call to xTaskCreate + * returns (via a pointer parameter) an xTaskHandle variable that can then + * be used as a parameter to vTaskDelete to delete the task. + * + * \page xTaskHandle xTaskHandle + * \ingroup Tasks + */ +typedef void * xTaskHandle; + +/* + * Used internally only. + */ +typedef struct xTIME_OUT +{ + portBASE_TYPE xOverflowCount; + portTickType xTimeOnEntering; +} xTimeOutType; + +/* + * Defines the priority used by the idle task. This must not be modified. + * + * \ingroup TaskUtils + */ +#define tskIDLE_PRIORITY ( ( unsigned portBASE_TYPE ) 0 ) + +/** + * task. h + * + * Macro for forcing a context switch. + * + * \page taskYIELD taskYIELD + * \ingroup SchedulerControl + */ +#define taskYIELD() portYIELD() + +/** + * task. h + * + * Macro to mark the start of a critical code region. Preemptive context + * switches cannot occur when in a critical region. + * + * NOTE: This may alter the stack (depending on the portable implementation) + * so must be used with care! + * + * \page taskENTER_CRITICAL taskENTER_CRITICAL + * \ingroup SchedulerControl + */ +#define taskENTER_CRITICAL() portENTER_CRITICAL() + +/** + * task. h + * + * Macro to mark the end of a critical code region. Preemptive context + * switches cannot occur when in a critical region. + * + * NOTE: This may alter the stack (depending on the portable implementation) + * so must be used with care! + * + * \page taskEXIT_CRITICAL taskEXIT_CRITICAL + * \ingroup SchedulerControl + */ +#define taskEXIT_CRITICAL() portEXIT_CRITICAL() + +/** + * task. h + * + * Macro to disable all maskable interrupts. + * + * \page taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS + * \ingroup SchedulerControl + */ +#define taskDISABLE_INTERRUPTS() portDISABLE_INTERRUPTS() + +/** + * task. h + * + * Macro to enable microcontroller interrupts. + * + * \page taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS + * \ingroup SchedulerControl + */ +#define taskENABLE_INTERRUPTS() portENABLE_INTERRUPTS() + +/* Definitions returned by xTaskGetSchedulerState(). */ +#define taskSCHEDULER_NOT_STARTED 0 +#define taskSCHEDULER_RUNNING 1 +#define taskSCHEDULER_SUSPENDED 2 + +/*----------------------------------------------------------- + * TASK CREATION API + *----------------------------------------------------------*/ + +/** + * task. h + *
+ portBASE_TYPE xTaskCreate(
+                              pdTASK_CODE pvTaskCode,
+                              const portCHAR * const pcName,
+                              unsigned portSHORT usStackDepth,
+                              void *pvParameters,
+                              unsigned portBASE_TYPE uxPriority,
+                              xTaskHandle *pvCreatedTask
+                          );
+ * + * Create a new task and add it to the list of tasks that are ready to run. + * + * @param pvTaskCode Pointer to the task entry function. Tasks + * must be implemented to never return (i.e. continuous loop). + * + * @param pcName A descriptive name for the task. This is mainly used to + * facilitate debugging. Max length defined by tskMAX_TASK_NAME_LEN - default + * is 16. + * + * @param usStackDepth The size of the task stack specified as the number of + * variables the stack can hold - not the number of bytes. For example, if + * the stack is 16 bits wide and usStackDepth is defined as 100, 200 bytes + * will be allocated for stack storage. + * + * @param pvParameters Pointer that will be used as the parameter for the task + * being created. + * + * @param uxPriority The priority at which the task should run. + * + * @param pvCreatedTask Used to pass back a handle by which the created task + * can be referenced. + * + * @return pdPASS if the task was successfully created and added to a ready + * list, otherwise an error code defined in the file errors. h + * + * Example usage: + 
+ // Task to be created.
+ void vTaskCode( void * pvParameters )
+ {
+     for( ;; )
+     {
+         // Task code goes here.
+     }
+ }
+
+ // Function that creates a task.
+ void vOtherFunction( void )
+ {
+ unsigned char ucParameterToPass;
+ xTaskHandle xHandle;
+		
+     // Create the task, storing the handle.
+     xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
+		
+     // Use the handle to delete the task.
+     vTaskDelete( xHandle );
+ }
+
+ * \defgroup xTaskCreate xTaskCreate + * \ingroup Tasks + */ +signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pvCreatedTask ); + +/** + * task. h + * 
void vTaskDelete( xTaskHandle pxTask );
+ * + * INCLUDE_vTaskDelete must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Remove a task from the RTOS real time kernels management. The task being + * deleted will be removed from all ready, blocked, suspended and event lists. + * + * NOTE: The idle task is responsible for freeing the kernel allocated + * memory from tasks that have been deleted. It is therefore important that + * the idle task is not starved of microcontroller processing time if your + * application makes any calls to vTaskDelete (). Memory allocated by the + * task code is not automatically freed, and should be freed before the task + * is deleted. + * + * See the demo application file death.c for sample code that utilises + * vTaskDelete (). + * + * @param pxTask The handle of the task to be deleted. Passing NULL will + * cause the calling task to be deleted. + * + * Example usage: + 
+ void vOtherFunction( void )
+ {
+ xTaskHandle xHandle;
+		
+     // Create the task, storing the handle.
+     xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+		
+     // Use the handle to delete the task.
+     vTaskDelete( xHandle );
+ }
+
+ * \defgroup vTaskDelete vTaskDelete + * \ingroup Tasks + */ +void vTaskDelete( xTaskHandle pxTask ); + + +/*----------------------------------------------------------- + * TASK CONTROL API + *----------------------------------------------------------*/ + +/** + * task. h + * 
void vTaskDelay( portTickType xTicksToDelay );
+ * + * Delay a task for a given number of ticks. The actual time that the + * task remains blocked depends on the tick rate. The constant + * portTICK_RATE_MS can be used to calculate real time from the tick + * rate - with the resolution of one tick period. + * + * INCLUDE_vTaskDelay must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * @param xTicksToDelay The amount of time, in tick periods, that + * the calling task should block. + * + * Example usage: + 
+ // Wait 10 ticks before performing an action.
+ // NOTE:
+ // This is for demonstration only and would be better achieved
+ // using vTaskDelayUntil ().
+ void vTaskFunction( void * pvParameters )
+ {
+ portTickType xDelay, xNextTime;
+
+     // Calc the time at which we want to perform the action
+     // next.
+     xNextTime = xTaskGetTickCount () + ( portTickType ) 10;
+
+     for( ;; )
+     {
+         xDelay = xNextTime - xTaskGetTickCount ();
+         xNextTime += ( portTickType ) 10;
+
+         // Guard against overflow
+         if( xDelay <= ( portTickType ) 10 )
+         {
+             vTaskDelay( xDelay );
+         }
+
+         // Perform action here.
+     }
+ }
+
+ * \defgroup vTaskDelay vTaskDelay + * \ingroup TaskCtrl + */ +void vTaskDelay( portTickType xTicksToDelay ); + +/** + * task. h + * 
void vTaskDelayUntil( portTickType *pxPreviousWakeTime, portTickType xTimeIncrement );
+ * + * INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Delay a task until a specified time. This function can be used by cyclical + * tasks to ensure a constant execution frequency. + * + * This function differs from vTaskDelay () in one important aspect: vTaskDelay () will + * cause a task to block for the specified number of ticks from the time vTaskDelay () is + * called. It is therefore difficult to use vTaskDelay () by itself to generate a fixed + * execution frequency as the time between a task starting to execute and that task + * calling vTaskDelay () may not be fixed [the task may take a different path though the + * code between calls, or may get interrupted or preempted a different number of times + * each time it executes]. + * + * Whereas vTaskDelay () specifies a wake time relative to the time at which the function + * is called, vTaskDelayUntil () specifies the absolute (exact) time at which it wishes to + * unblock. + * + * The constant portTICK_RATE_MS can be used to calculate real time from the tick + * rate - with the resolution of one tick period. + * + * @param pxPreviousWakeTime Pointer to a variable that holds the time at which the + * task was last unblocked. The variable must be initialised with the current time + * prior to its first use (see the example below). Following this the variable is + * automatically updated within vTaskDelayUntil (). + * + * @param xTimeIncrement The cycle time period. The task will be unblocked at + * time *pxPreviousWakeTime + xTimeIncrement. Calling vTaskDelayUntil with the + * same xTimeIncrement parameter value will cause the task to execute with + * a fixed interface period. + * + * Example usage: + 
+ // Perform an action every 10 ticks.
+ void vTaskFunction( void * pvParameters )
+ {
+ portTickType xLastWakeTime;
+ const portTickType xFrequency = 10;
+
+     // Initialise the xLastWakeTime variable with the current time.
+     xLastWakeTime = xTaskGetTickCount ();
+     for( ;; )
+     {
+         // Wait for the next cycle.
+         vTaskDelayUntil( &xLastWakeTime, xFrequency );
+
+         // Perform action here.
+     }
+ }
+
+ * \defgroup vTaskDelayUntil vTaskDelayUntil + * \ingroup TaskCtrl + */ +void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement ); + +/** + * task. h + * 
unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask );
+ * + * INCLUDE_xTaskPriorityGet must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Obtain the priority of any task. + * + * @param pxTask Handle of the task to be queried. Passing a NULL + * handle results in the priority of the calling task being returned. + * + * @return The priority of pxTask. + * + * Example usage: + 
+ void vAFunction( void )
+ {
+ xTaskHandle xHandle;
+		
+     // Create a task, storing the handle.
+     xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+		
+     // ...
+
+     // Use the handle to obtain the priority of the created task.
+     // It was created with tskIDLE_PRIORITY, but may have changed
+     // it itself.
+     if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY )
+     {
+         // The task has changed it's priority.
+     }
+
+     // ...
+
+     // Is our priority higher than the created task?
+     if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) )
+     {
+         // Our priority (obtained using NULL handle) is higher.
+     }
+ }
+
+ * \defgroup uxTaskPriorityGet uxTaskPriorityGet + * \ingroup TaskCtrl + */ +unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ); + +/** + * task. h + * 
void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority );
+ * + * INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Set the priority of any task. + * + * A context switch will occur before the function returns if the priority + * being set is higher than the currently executing task. + * + * @param pxTask Handle to the task for which the priority is being set. + * Passing a NULL handle results in the priority of the calling task being set. + * + * @param uxNewPriority The priority to which the task will be set. + * + * Example usage: + 
+ void vAFunction( void )
+ {
+ xTaskHandle xHandle;
+		
+     // Create a task, storing the handle.
+     xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+
+     // ...
+
+     // Use the handle to raise the priority of the created task.
+     vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 );
+
+     // ...
+
+     // Use a NULL handle to raise our priority to the same value.
+     vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );
+ }
+
+ * \defgroup vTaskPrioritySet vTaskPrioritySet + * \ingroup TaskCtrl + */ +void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ); + +/** + * task. h + * 
void vTaskSuspend( xTaskHandle pxTaskToSuspend );
+ * + * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Suspend any task. When suspended a task will never get any microcontroller + * processing time, no matter what its priority. + * + * Calls to vTaskSuspend are not accumulative - + * i.e. calling vTaskSuspend () twice on the same task still only requires one + * call to vTaskResume () to ready the suspended task. + * + * @param pxTaskToSuspend Handle to the task being suspended. Passing a NULL + * handle will cause the calling task to be suspended. + * + * Example usage: + 
+ void vAFunction( void )
+ {
+ xTaskHandle xHandle;
+		
+     // Create a task, storing the handle.
+     xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+		
+     // ...
+
+     // Use the handle to suspend the created task.
+     vTaskSuspend( xHandle );
+
+     // ...
+		
+     // The created task will not run during this period, unless
+     // another task calls vTaskResume( xHandle ).
+		
+     //...
+		
+
+     // Suspend ourselves.
+     vTaskSuspend( NULL );
+
+     // We cannot get here unless another task calls vTaskResume
+     // with our handle as the parameter.
+ }
+
+ * \defgroup vTaskSuspend vTaskSuspend + * \ingroup TaskCtrl + */ +void vTaskSuspend( xTaskHandle pxTaskToSuspend ); + +/** + * task. h + * 
void vTaskResume( xTaskHandle pxTaskToResume );
+ * + * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * Resumes a suspended task. + * + * A task that has been suspended by one of more calls to vTaskSuspend () + * will be made available for running again by a single call to + * vTaskResume (). + * + * @param pxTaskToResume Handle to the task being readied. + * + * Example usage: + 
+ void vAFunction( void )
+ {
+ xTaskHandle xHandle;
+		
+     // Create a task, storing the handle.
+     xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
+		
+     // ...
+
+     // Use the handle to suspend the created task.
+     vTaskSuspend( xHandle );
+
+     // ...
+	
+     // The created task will not run during this period, unless
+     // another task calls vTaskResume( xHandle ).
+		
+     //...
+		
+
+     // Resume the suspended task ourselves.
+     vTaskResume( xHandle );
+
+     // The created task will once again get microcontroller processing
+     // time in accordance with it priority within the system.
+ }
+
+ * \defgroup vTaskResume vTaskResume + * \ingroup TaskCtrl + */ +void vTaskResume( xTaskHandle pxTaskToResume ); + +/** + * task. h + * 
void xTaskResumeFromISR( xTaskHandle pxTaskToResume );
+ * + * INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be + * available. See the configuration section for more information. + * + * An implementation of vTaskResume() that can be called from within an ISR. + * + * A task that has been suspended by one of more calls to vTaskSuspend () + * will be made available for running again by a single call to + * xTaskResumeFromISR (). + * + * @param pxTaskToResume Handle to the task being readied. + * + * \defgroup vTaskResumeFromISR vTaskResumeFromISR + * \ingroup TaskCtrl + */ +portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ); + +/*----------------------------------------------------------- + * SCHEDULER CONTROL + *----------------------------------------------------------*/ + +/** + * task. h + * 
void vTaskStartScheduler( void );
+ * + * Starts the real time kernel tick processing. After calling the kernel + * has control over which tasks are executed and when. This function + * does not return until an executing task calls vTaskEndScheduler (). + * + * At least one task should be created via a call to xTaskCreate () + * before calling vTaskStartScheduler (). The idle task is created + * automatically when the first application task is created. + * + * See the demo application file main.c for an example of creating + * tasks and starting the kernel. + * + * Example usage: + 
+ void vAFunction( void )
+ {
+     // Create at least one task before starting the kernel.
+     xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
+
+     // Start the real time kernel with preemption.
+     vTaskStartScheduler ();
+
+     // Will not get here unless a task calls vTaskEndScheduler ()
+ }
+
+ * + * \defgroup vTaskStartScheduler vTaskStartScheduler + * \ingroup SchedulerControl + */ +void vTaskStartScheduler( void ); + +/** + * task. h + * 
void vTaskEndScheduler( void );
+ * + * Stops the real time kernel tick. All created tasks will be automatically + * deleted and multitasking (either preemptive or cooperative) will + * stop. Execution then resumes from the point where vTaskStartScheduler () + * was called, as if vTaskStartScheduler () had just returned. + * + * See the demo application file main. c in the demo/PC directory for an + * example that uses vTaskEndScheduler (). + * + * vTaskEndScheduler () requires an exit function to be defined within the + * portable layer (see vPortEndScheduler () in port. c for the PC port). This + * performs hardware specific operations such as stopping the kernel tick. + * + * vTaskEndScheduler () will cause all of the resources allocated by the + * kernel to be freed - but will not free resources allocated by application + * tasks. + * + * Example usage: + 
+ void vTaskCode( void * pvParameters )
+ {
+     for( ;; )
+     {
+         // Task code goes here.
+
+         // At some point we want to end the real time kernel processing
+         // so call ...
+         vTaskEndScheduler ();
+     }
+ }
+
+ void vAFunction( void )
+ {
+     // Create at least one task before starting the kernel.
+     xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
+
+     // Start the real time kernel with preemption.
+     vTaskStartScheduler ();
+
+     // Will only get here when the vTaskCode () task has called
+     // vTaskEndScheduler ().  When we get here we are back to single task
+     // execution.
+ }
+
+ * + * \defgroup vTaskEndScheduler vTaskEndScheduler + * \ingroup SchedulerControl + */ +void vTaskEndScheduler( void ); + +/** + * task. h + * 
void vTaskSuspendAll( void );
+ * + * Suspends all real time kernel activity while keeping interrupts (including the + * kernel tick) enabled. + * + * After calling vTaskSuspendAll () the calling task will continue to execute + * without risk of being swapped out until a call to xTaskResumeAll () has been + * made. + * + * Example usage: + 
+ void vTask1( void * pvParameters )
+ {
+     for( ;; )
+     {
+         // Task code goes here.
+
+         // ...
+
+         // At some point the task wants to perform a long operation during
+         // which it does not want to get swapped out.  It cannot use
+         // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
+         // operation may cause interrupts to be missed - including the
+         // ticks.
+
+         // Prevent the real time kernel swapping out the task.
+         vTaskSuspendAll ();
+
+         // Perform the operation here.  There is no need to use critical
+         // sections as we have all the microcontroller processing time.
+         // During this time interrupts will still operate and the kernel
+         // tick count will be maintained.
+
+         // ...
+
+         // The operation is complete.  Restart the kernel.
+         xTaskResumeAll ();
+     }
+ }
+
+ * \defgroup vTaskSuspendAll vTaskSuspendAll + * \ingroup SchedulerControl + */ +void vTaskSuspendAll( void ); + +/** + * task. h + * 
portCHAR xTaskResumeAll( void );
+ * + * Resumes real time kernel activity following a call to vTaskSuspendAll (). + * After a call to vTaskSuspendAll () the kernel will take control of which + * task is executing at any time. + * + * @return If resuming the scheduler caused a context switch then pdTRUE is + * returned, otherwise pdFALSE is returned. + * + * Example usage: + 
+ void vTask1( void * pvParameters )
+ {
+     for( ;; )
+     {
+         // Task code goes here.
+
+         // ...
+
+         // At some point the task wants to perform a long operation during
+         // which it does not want to get swapped out.  It cannot use
+         // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
+         // operation may cause interrupts to be missed - including the
+         // ticks.
+
+         // Prevent the real time kernel swapping out the task.
+         vTaskSuspendAll ();
+
+         // Perform the operation here.  There is no need to use critical
+         // sections as we have all the microcontroller processing time.
+         // During this time interrupts will still operate and the real
+         // time kernel tick count will be maintained.
+
+         // ...
+
+         // The operation is complete.  Restart the kernel.  We want to force
+         // a context switch - but there is no point if resuming the scheduler
+         // caused a context switch already.
+         if( !xTaskResumeAll () )
+         {
+              taskYIELD ();
+         }
+     }
+ }
+
+ * \defgroup xTaskResumeAll xTaskResumeAll + * \ingroup SchedulerControl + */ +signed portBASE_TYPE xTaskResumeAll( void ); + + +/*----------------------------------------------------------- + * TASK UTILITIES + *----------------------------------------------------------*/ + +/** + * task. h + * 
volatile portTickType xTaskGetTickCount( void );
+ * + * @return The count of ticks since vTaskStartScheduler was called. + * + * \page xTaskGetTickCount xTaskGetTickCount + * \ingroup TaskUtils + */ +portTickType xTaskGetTickCount( void ); + +/** + * task. h + * 
unsigned portSHORT uxTaskGetNumberOfTasks( void );
+ * + * @return The number of tasks that the real time kernel is currently managing. + * This includes all ready, blocked and suspended tasks. A task that + * has been deleted but not yet freed by the idle task will also be + * included in the count. + * + * \page uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks + * \ingroup TaskUtils + */ +unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ); + +/** + * task. h + * 
void vTaskList( portCHAR *pcWriteBuffer );
+ * + * configUSE_TRACE_FACILITY, INCLUDE_vTaskDelete and INCLUDE_vTaskSuspend + * must all be defined as 1 for this function to be available. + * See the configuration section for more information. + * + * NOTE: This function will disable interrupts for its duration. It is + * not intended for normal application runtime use but as a debug aid. + * + * Lists all the current tasks, along with their current state and stack + * usage high water mark. + * + * Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or + * suspended ('S'). + * + * @param pcWriteBuffer A buffer into which the above mentioned details + * will be written, in ascii form. This buffer is assumed to be large + * enough to contain the generated report. Approximately 40 bytes per + * task should be sufficient. + * + * \page vTaskList vTaskList + * \ingroup TaskUtils + */ +void vTaskList( signed portCHAR *pcWriteBuffer ); + +/** + * task. h + * 
void vTaskStartTrace( portCHAR * pcBuffer, unsigned portBASE_TYPE uxBufferSize );
+ * + * Starts a real time kernel activity trace. The trace logs the identity of + * which task is running when. + * + * The trace file is stored in binary format. A separate DOS utility called + * convtrce.exe is used to convert this into a tab delimited text file which + * can be viewed and plotted in a spread sheet. + * + * @param pcBuffer The buffer into which the trace will be written. + * + * @param ulBufferSize The size of pcBuffer in bytes. The trace will continue + * until either the buffer in full, or ulTaskEndTrace () is called. + * + * \page vTaskStartTrace vTaskStartTrace + * \ingroup TaskUtils + */ +void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize ); + +/** + * task. h + * 
unsigned portLONG ulTaskEndTrace( void );
+ * + * Stops a kernel activity trace. See vTaskStartTrace (). + * + * @return The number of bytes that have been written into the trace buffer. + * + * \page usTaskEndTrace usTaskEndTrace + * \ingroup TaskUtils + */ +unsigned portLONG ulTaskEndTrace( void ); + + +/*----------------------------------------------------------- + * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES + *----------------------------------------------------------*/ + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY + * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS + * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * Called from the real time kernel tick (either preemptive or cooperative), + * this increments the tick count and checks if any tasks that are blocked + * for a finite period required removing from a blocked list and placing on + * a ready list. + */ +inline void vTaskIncrementTick( void ); + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN + * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED. + * + * Removes the calling task from the ready list and places it both + * on the list of tasks waiting for a particular event, and the + * list of delayed tasks. The task will be removed from both lists + * and replaced on the ready list should either the event occur (and + * there be no higher priority tasks waiting on the same event) or + * the delay period expires. + * + * @param pxEventList The list containing tasks that are blocked waiting + * for the event to occur. + * + * @param xTicksToWait The maximum amount of time that the task should wait + * for the event to occur. This is specified in kernel ticks,the constant + * portTICK_RATE_MS can be used to convert kernel ticks into a real time + * period. + */ +void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait ); + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN + * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED. + * + * Removes a task from both the specified event list and the list of blocked + * tasks, and places it on a ready queue. + * + * xTaskRemoveFromEventList () will be called if either an event occurs to + * unblock a task, or the block timeout period expires. + * + * @return pdTRUE if the task being removed has a higher priority than the task + * making the call, otherwise pdFALSE. + */ +signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ); + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN + * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * INCLUDE_vTaskCleanUpResources and INCLUDE_vTaskSuspend must be defined as 1 + * for this function to be available. + * See the configuration section for more information. + * + * Empties the ready and delayed queues of task control blocks, freeing the + * memory allocated for the task control block and task stacks as it goes. + */ +void vTaskCleanUpResources( void ); + +/* + * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY + * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS + * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER. + * + * Sets the pointer to the current TCB to the TCB of the highest priority task + * that is ready to run. + */ +inline void vTaskSwitchContext( void ); + +/* + * Return the handle of the calling task. + */ +xTaskHandle xTaskGetCurrentTaskHandle( void ); + +/* + * Capture the current time status for future reference. + */ +void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut ); + +/* + * Compare the time status now with that previously captured to see if the + * timeout has expired. + */ +portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait ); + +/* + * Shortcut used by the queue implementation to prevent unnecessary call to + * taskYIELD(); + */ +void vTaskMissedYield( void ); + +/* + * Returns the scheduler state as taskSCHEDULER_RUNNING, + * taskSCHEDULER_NOT_STARTED or taskSCHEDULER_SUSPENDED. + */ +portBASE_TYPE xTaskGetSchedulerState( void ); + +/* + * Raises the priority of the mutex holder to that of the calling task should + * the mutex holder have a priority less than the calling task. + */ +void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder ); + +/* + * Set the priority of a task back to its proper priority in the case that it + * inherited a higher priority while it was holding a semaphore. + */ +void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ); + +#ifdef __cplusplus +} +#endif +#endif /* TASK_H */ + + + diff --git a/FreeRTOS/list.c b/FreeRTOS/list.c new file mode 100644 index 0000000..c44c2ce --- /dev/null +++ b/FreeRTOS/list.c @@ -0,0 +1,211 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** +*/ + +/* +Changes from V1.2.0 + + + Removed the volatile modifier from the function parameters. This was + only ever included to prevent compiler warnings. Now warnings are + removed by casting parameters where the calls are made. + + + prvListGetOwnerOfNextEntry() and prvListGetOwnerOfHeadEntry() have been + removed from the c file and added as macros to the h file. + + + uxNumberOfItems has been added to the list structure. This removes the + need for a pointer comparison when checking if a list is empty, and so + is slightly faster. + + + Removed the NULL check in vListRemove(). This makes the call faster but + necessitates any application code utilising the list implementation to + ensure NULL pointers are not passed. + +Changes from V2.0.0 + + + Double linked the lists to allow faster removal item removal. + +Changes from V2.6.1 + + + Make use of the new portBASE_TYPE definition where ever appropriate. + +Changes from V3.0.0 + + + API changes as described on the FreeRTOS.org WEB site. + +Changes from V3.2.4 + + + Removed the pxHead member of the xList structure. This always pointed + to the same place so has been removed to free a few bytes of RAM. + + + Introduced the xMiniListItem structure that does not include the + xListItem members that are not required by the xListEnd member of a list. + Again this was done to reduce RAM usage. + + + Changed the volatile definitions of some structure members to clean up + the code where the list structures are used. + +Changes from V4.0.4 + + + Optimised vListInsert() in the case when the wake time is the maximum + tick count value. +*/ + +#include +#include "FreeRTOS.h" +#include "list.h" + +/*----------------------------------------------------------- + * PUBLIC LIST API documented in list.h + *----------------------------------------------------------*/ + +void vListInitialise( xList *pxList ) +{ + /* The list structure contains a list item which is used to mark the + end of the list. To initialise the list the list end is inserted + as the only list entry. */ + pxList->pxIndex = ( xListItem * ) &( pxList->xListEnd ); + + /* The list end value is the highest possible value in the list to + ensure it remains at the end of the list. */ + pxList->xListEnd.xItemValue = portMAX_DELAY; + + /* The list end next and previous pointers point to itself so we know + when the list is empty. */ + pxList->xListEnd.pxNext = ( xListItem * ) &( pxList->xListEnd ); + pxList->xListEnd.pxPrevious = ( xListItem * ) &( pxList->xListEnd ); + + pxList->uxNumberOfItems = 0; +} +/*-----------------------------------------------------------*/ + +void vListInitialiseItem( xListItem *pxItem ) +{ + /* Make sure the list item is not recorded as being on a list. */ + pxItem->pvContainer = NULL; +} +/*-----------------------------------------------------------*/ + +void vListInsertEnd( xList *pxList, xListItem *pxNewListItem ) +{ +volatile xListItem * pxIndex; + + /* Insert a new list item into pxList, but rather than sort the list, + makes the new list item the last item to be removed by a call to + pvListGetOwnerOfNextEntry. This means it has to be the item pointed to by + the pxIndex member. */ + pxIndex = pxList->pxIndex; + + pxNewListItem->pxNext = pxIndex->pxNext; + pxNewListItem->pxPrevious = pxList->pxIndex; + pxIndex->pxNext->pxPrevious = ( volatile xListItem * ) pxNewListItem; + pxIndex->pxNext = ( volatile xListItem * ) pxNewListItem; + pxList->pxIndex = ( volatile xListItem * ) pxNewListItem; + + /* Remember which list the item is in. */ + pxNewListItem->pvContainer = ( void * ) pxList; + + ( pxList->uxNumberOfItems )++; +} +/*-----------------------------------------------------------*/ + +void vListInsert( xList *pxList, xListItem *pxNewListItem ) +{ +volatile xListItem *pxIterator; +portTickType xValueOfInsertion; + + /* Insert the new list item into the list, sorted in ulListItem order. */ + xValueOfInsertion = pxNewListItem->xItemValue; + + /* If the list already contains a list item with the same item value then + the new list item should be placed after it. This ensures that TCB's which + are stored in ready lists (all of which have the same ulListItem value) + get an equal share of the CPU. However, if the xItemValue is the same as + the back marker the iteration loop below will not end. This means we need + to guard against this by checking the value first and modifying the + algorithm slightly if necessary. */ + if( xValueOfInsertion == portMAX_DELAY ) + { + pxIterator = pxList->xListEnd.pxPrevious; + } + else + { + for( pxIterator = ( xListItem * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) + { + /* There is nothing to do here, we are just iterating to the + wanted insertion position. */ + } + } + + pxNewListItem->pxNext = pxIterator->pxNext; + pxNewListItem->pxNext->pxPrevious = ( volatile xListItem * ) pxNewListItem; + pxNewListItem->pxPrevious = pxIterator; + pxIterator->pxNext = ( volatile xListItem * ) pxNewListItem; + + /* Remember which list the item is in. This allows fast removal of the + item later. */ + pxNewListItem->pvContainer = ( void * ) pxList; + + ( pxList->uxNumberOfItems )++; +} +/*-----------------------------------------------------------*/ + +void vListRemove( xListItem *pxItemToRemove ) +{ +xList * pxList; + + pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious; + pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext; + + /* The list item knows which list it is in. Obtain the list from the list + item. */ + pxList = ( xList * ) pxItemToRemove->pvContainer; + + /* Make sure the index is left pointing to a valid item. */ + if( pxList->pxIndex == pxItemToRemove ) + { + pxList->pxIndex = pxItemToRemove->pxPrevious; + } + + pxItemToRemove->pvContainer = NULL; + ( pxList->uxNumberOfItems )--; +} +/*-----------------------------------------------------------*/ + diff --git a/FreeRTOS/portable/AIC-2.0.0/port.c b/FreeRTOS/portable/AIC-2.0.0/port.c new file mode 100644 index 0000000..1b6c02d --- /dev/null +++ b/FreeRTOS/portable/AIC-2.0.0/port.c @@ -0,0 +1,325 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** +*/ + +/* + Changes from V4.2.1 + + + Introduced the configKERNEL_INTERRUPT_PRIORITY definition. +*/ + +/*----------------------------------------------------------- + * Implementation of functions defined in portable.h for the PIC24 port. + *----------------------------------------------------------*/ + +/* Scheduler include files. */ +#include "FreeRTOS.h" +#include "task.h" + +/* Hardware specifics. */ +#define portBIT_SET 1 +#define portTIMER_PRESCALE 8 +#define portINITIAL_SR 0 + +/* Defined for backward compatability with project created prior to +FreeRTOS.org V4.3.0. */ +#ifndef configKERNEL_INTERRUPT_PRIORITY + #define configKERNEL_INTERRUPT_PRIORITY 1 +#endif + +/* The program counter is only 23 bits. */ +#define portUNUSED_PR_BITS 0x7f + +/* Records the nesting depth of calls to portENTER_CRITICAL(). */ +unsigned portBASE_TYPE uxCriticalNesting = 0xef; + +#if configKERNEL_INTERRUPT_PRIORITY != 1 + #error If configKERNEL_INTERRUPT_PRIORITY is not 1 then the #32 in the following macros needs changing to equal the portINTERRUPT_BITS value, which is ( configKERNEL_INTERRUPT_PRIORITY << 5 ) +#endif + + +#define portRESTORE_CONTEXT() \ + asm volatile( "MOV _pxCurrentTCB, W0 \n" /* Restore the stack pointer for the task. */ \ + "MOV [W0], W15 \n" \ + "POP W0 \n" /* Restore the critical nesting counter for the task. */ \ + "MOV W0, _uxCriticalNesting \n" \ + "POP PSVPAG \n" \ + "POP CORCON \n" \ + "POP DOENDH \n" \ + "POP DOENDL \n" \ + "POP DOSTARTH \n" \ + "POP DOSTARTL \n" \ + "POP DCOUNT \n" \ + "POP ACCBU \n" \ + "POP ACCBH \n" \ + "POP ACCBL \n" \ + "POP ACCAU \n" \ + "POP ACCAH \n" \ + "POP ACCAL \n" \ + "POP TBLPAG \n" \ + "POP RCOUNT \n" /* Restore the registers from the stack. */ \ + "POP W14 \n" \ + "POP.D W12 \n" \ + "POP.D W10 \n" \ + "POP.D W8 \n" \ + "POP.D W6 \n" \ + "POP.D W4 \n" \ + "POP.D W2 \n" \ + "POP.D W0 \n" \ + "POP SR " ); + + +#define portSAVE_CONTEXT() \ + asm volatile( "PUSH SR \n" /* Save the SR used by the task.... */ \ + "PUSH W0 \n" /* ....then disable interrupts. */ \ + "MOV #32, W0 \n" \ + "MOV W0, SR \n" \ + "PUSH W1 \n" /* Save registers to the stack. */ \ + "PUSH.D W2 \n" \ + "PUSH.D W4 \n" \ + "PUSH.D W6 \n" \ + "PUSH.D W8 \n" \ + "PUSH.D W10 \n" \ + "PUSH.D W12 \n" \ + "PUSH W14 \n" \ + "PUSH RCOUNT \n" \ + "PUSH TBLPAG \n" \ + "PUSH ACCAL \n" \ + "PUSH ACCAH \n" \ + "PUSH ACCAU \n" \ + "PUSH ACCBL \n" \ + "PUSH ACCBH \n" \ + "PUSH ACCBU \n" \ + "PUSH DCOUNT \n" \ + "PUSH DOSTARTL \n" \ + "PUSH DOSTARTH \n" \ + "PUSH DOENDL \n" \ + "PUSH DOENDH \n" \ + "PUSH CORCON \n" \ + "PUSH PSVPAG \n" \ + "MOV _uxCriticalNesting, W0 \n" /* Save the critical nesting counter for the task. */ \ + "PUSH W0 \n" \ + "MOV _pxCurrentTCB, W0 \n" /* Save the new top of stack into the TCB. */ \ + "MOV W15, [W0] " ); + +/* + * Setup the timer used to generate the tick interrupt. + */ +static void prvSetupTimerInterrupt( void ); + +/* + * See header file for description. + */ +portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters ) +{ +unsigned portSHORT usCode; +portBASE_TYPE i; + +const portSTACK_TYPE xInitialStack[] = +{ + 0x1111, /* W1 */ + 0x2222, /* W2 */ + 0x3333, /* W3 */ + 0x4444, /* W4 */ + 0x5555, /* W5 */ + 0x6666, /* W6 */ + 0x7777, /* W7 */ + 0x8888, /* W8 */ + 0x9999, /* W9 */ + 0xaaaa, /* W10 */ + 0xbbbb, /* W11 */ + 0xcccc, /* W12 */ + 0xdddd, /* W13 */ + 0xeeee, /* W14 */ + 0xcdce, /* RCOUNT */ + 0xabac, /* TBLPAG */ + + /* dsPIC specific registers. */ + 0x0202, /* ACCAL */ + 0x0303, /* ACCAH */ + 0x0404, /* ACCAU */ + 0x0505, /* ACCBL */ + 0x0606, /* ACCBH */ + 0x0707, /* ACCBU */ + 0x0808, /* DCOUNT */ + 0x090a, /* DOSTARTL */ + 0x1010, /* DOSTARTH */ + 0x1110, /* DOENDL */ + 0x1212, /* DOENDH */ +}; + + /* Setup the stack as if a yield had occurred. + + Save the low bytes of the program counter. */ + usCode = ( unsigned portSHORT ) pxCode; + *pxTopOfStack = ( portSTACK_TYPE ) usCode; + pxTopOfStack++; + + /* Save the high byte of the program counter. This will always be zero + here as it is passed in a 16bit pointer. If the address is greater than + 16 bits then the pointer will point to a jump table. */ + *pxTopOfStack = ( portSTACK_TYPE ) 0; + pxTopOfStack++; + + /* Status register with interrupts enabled. */ + *pxTopOfStack = portINITIAL_SR; + pxTopOfStack++; + + /* Parameters are passed in W0. */ + *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; + pxTopOfStack++; + + for( i = 0; i < ( sizeof( xInitialStack ) / sizeof( portSTACK_TYPE ) ); i++ ) + { + *pxTopOfStack = xInitialStack[ i ]; + pxTopOfStack++; + } + + *pxTopOfStack = CORCON; + pxTopOfStack++; + *pxTopOfStack = PSVPAG; + pxTopOfStack++; + + /* Finally the critical nesting depth. */ + *pxTopOfStack = 0x00; + pxTopOfStack++; + + return pxTopOfStack; +} +/*-----------------------------------------------------------*/ + +portBASE_TYPE xPortStartScheduler( void ) +{ + /* Setup a timer for the tick ISR. */ + prvSetupTimerInterrupt(); + + /* Restore the context of the first task to run. */ + portRESTORE_CONTEXT(); + + /* Simulate the end of the yield function. */ + asm volatile ( "return" ); + + /* Should not reach here. */ + return pdTRUE; +} +/*-----------------------------------------------------------*/ + +void vPortEndScheduler( void ) +{ + /* It is unlikely that the scheduler for the PIC port will get stopped + once running. If required disable the tick interrupt here, then return + to xPortStartScheduler(). */ +} +/*-----------------------------------------------------------*/ + +/* + * Manual context switch. This is similar to the tick context switch, + * but does not increment the tick count. It must be identical to the + * tick context switch in how it stores the stack of a task. + */ +void vPortYield( void ) +{ + portSAVE_CONTEXT(); + vTaskSwitchContext(); + portRESTORE_CONTEXT(); +} +/*-----------------------------------------------------------*/ + +/* + * Setup a timer for a regular tick. + */ +static void prvSetupTimerInterrupt( void ) +{ +const unsigned portLONG ulCompareMatch = ( configCPU_CLOCK_HZ / portTIMER_PRESCALE ) / configTICK_RATE_HZ; + + /* Prescale of 8. */ + T1CON = 0; + TMR1 = 0; + + PR1 = ( unsigned portSHORT ) ulCompareMatch; + + /* Setup timer 1 interrupt priority. */ + IPC0bits.T1IP = configKERNEL_INTERRUPT_PRIORITY; + + /* Clear the interrupt as a starting condition. */ + IFS0bits.T1IF = 0; + + /* Enable the interrupt. */ + IEC0bits.T1IE = 1; + + /* Setup the prescale value. */ +// T1CONbits.TCKPS0 = 1; +// T1CONbits.TCKPS1 = 0; + T1CONbits.TCKPS = 1; + + /* Start the timer. */ + T1CONbits.TON = 1; +} +/*-----------------------------------------------------------*/ + +void vPortEnterCritical( void ) +{ + portDISABLE_INTERRUPTS(); + uxCriticalNesting++; +} +/*-----------------------------------------------------------*/ + +void vPortExitCritical( void ) +{ + uxCriticalNesting--; + if( uxCriticalNesting == 0 ) + { + portENABLE_INTERRUPTS(); + } +} +/*-----------------------------------------------------------*/ + +void __attribute__((__interrupt__, auto_psv)) _T1Interrupt( void ) +{ + vTaskIncrementTick(); + + /* Clear the timer interrupt. */ + IFS0bits.T1IF = 0; + + #if configUSE_PREEMPTION == 1 + portYIELD(); + #endif +} diff --git a/FreeRTOS/portable/AIC-2.0.0/portmacro.h b/FreeRTOS/portable/AIC-2.0.0/portmacro.h new file mode 100644 index 0000000..d71c58f --- /dev/null +++ b/FreeRTOS/portable/AIC-2.0.0/portmacro.h @@ -0,0 +1,119 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** +*/ + +#ifndef PORTMACRO_H +#define PORTMACRO_H + +#ifdef __cplusplus +extern "C" { +#endif + +/*----------------------------------------------------------- + * Port specific definitions. + * + * The settings in this file configure FreeRTOS correctly for the + * given hardware and compiler. + * + * These settings should not be altered. + *----------------------------------------------------------- + */ + +/* Type definitions. */ +#define portCHAR char +#define portFLOAT float +#define portDOUBLE double +#define portLONG long +#define portSHORT short +#define portSTACK_TYPE unsigned short +#define portBASE_TYPE short + +#if( configUSE_16_BIT_TICKS == 1 ) + typedef unsigned portSHORT portTickType; + #define portMAX_DELAY ( portTickType ) 0xffff +#else + typedef unsigned portLONG portTickType; + #define portMAX_DELAY ( portTickType ) 0xffffffff +#endif +/*-----------------------------------------------------------*/ + +/* Hardware specifics. */ +#define portBYTE_ALIGNMENT 2 +#define portSTACK_GROWTH 1 +#define portTICK_RATE_MS ( ( portTickType ) 1000 / configTICK_RATE_HZ ) +/*-----------------------------------------------------------*/ + +/* Critical section management. */ +#define portINTERRUPT_BITS ( ( unsigned portSHORT ) configKERNEL_INTERRUPT_PRIORITY << ( unsigned portSHORT ) 5 ) + +#define portDISABLE_INTERRUPTS() SR |= portINTERRUPT_BITS +#define portENABLE_INTERRUPTS() SR &= ~portINTERRUPT_BITS + +/* Note that exiting a critical sectino will set the IPL bits to 0, nomatter +what their value was prior to entering the critical section. */ +extern void vPortEnterCritical( void ); +extern void vPortExitCritical( void ); +#define portENTER_CRITICAL() vPortEnterCritical() +#define portEXIT_CRITICAL() vPortExitCritical() +/*-----------------------------------------------------------*/ + +/* Task utilities. */ +extern void vPortYield( void ); +#define portYIELD() asm volatile ( "CALL _vPortYield \n" \ + "NOP " ); +/*-----------------------------------------------------------*/ + +/* Task function macros as described on the FreeRTOS.org WEB site. */ +#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters ) +#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters ) +/*-----------------------------------------------------------*/ + +/* Compiler specifics. */ +#define inline + +#define portNOP() asm volatile ( "NOP" ) + +#ifdef __cplusplus +} +#endif + +#endif /* PORTMACRO_H */ + diff --git a/FreeRTOS/portable/MemMang/heap_1.c b/FreeRTOS/portable/MemMang/heap_1.c new file mode 100644 index 0000000..cb27c4c --- /dev/null +++ b/FreeRTOS/portable/MemMang/heap_1.c @@ -0,0 +1,147 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** +*/ + +/* + +Changes between V2.5.1 and V2.5.1 + + + The memory pool has been defined within a struct to ensure correct memory + alignment on 32bit systems. + +Changes between V2.6.1 and V3.0.0 + + + An overflow check has been added to ensure the next free byte variable + does not wrap around. +*/ + + +/* + * The simplest possible implementation of pvPortMalloc(). Note that this + * implementation does NOT allow allocated memory to be freed again. + * + * See heap_2.c and heap_3.c for alternative implementations, and the memory + * management pages of http://www.FreeRTOS.org for more information. + */ +#include +#include "FreeRTOS.h" +#include "task.h" + +/* Setup the correct byte alignment mask for the defined byte alignment. */ + +#if portBYTE_ALIGNMENT == 8 + #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0007 ) +#endif + +#if portBYTE_ALIGNMENT == 4 + #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0003 ) +#endif + +#if portBYTE_ALIGNMENT == 2 + #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0001 ) +#endif + +#if portBYTE_ALIGNMENT == 1 + #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0000 ) +#endif + +#ifndef heapBYTE_ALIGNMENT_MASK + #error "Invalid portBYTE_ALIGNMENT definition" +#endif + +/* Allocate the memory for the heap. The struct is used to force byte +alignment without using any non-portable code. */ +static struct xRTOS_HEAP +{ + unsigned portLONG ulDummy; + unsigned portCHAR ucHeap[ configTOTAL_HEAP_SIZE ]; +} xHeap; + +static size_t xNextFreeByte = ( size_t ) 0; +/*-----------------------------------------------------------*/ + +void *pvPortMalloc( size_t xWantedSize ) +{ +void *pvReturn = NULL; + + /* Ensure that blocks are always aligned to the required number of bytes. */ + #if portBYTE_ALIGNMENT != 1 + if( xWantedSize & heapBYTE_ALIGNMENT_MASK ) + { + /* Byte alignment required. */ + xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & heapBYTE_ALIGNMENT_MASK ) ); + } + #endif + + vTaskSuspendAll(); + { + /* Check there is enough room left for the allocation. */ + if( ( ( xNextFreeByte + xWantedSize ) < configTOTAL_HEAP_SIZE ) && + ( ( xNextFreeByte + xWantedSize ) > xNextFreeByte ) )/* Check for overflow. */ + { + /* Return the next free byte then increment the index past this + block. */ + pvReturn = &( xHeap.ucHeap[ xNextFreeByte ] ); + xNextFreeByte += xWantedSize; + } + } + xTaskResumeAll(); + + return pvReturn; +} +/*-----------------------------------------------------------*/ + +void vPortFree( void *pv ) +{ + /* Memory cannot be freed using this scheme. See heap_2.c and heap_3.c + for alternative implementations, and the memory management pages of + http://www.FreeRTOS.org for more information. */ + ( void ) pv; +} +/*-----------------------------------------------------------*/ + +void vPortInitialiseBlocks( void ) +{ + /* Only required when static memory is not cleared. */ + xNextFreeByte = ( size_t ) 0; +} + + diff --git a/FreeRTOS/portable/MemMang/heap_2.c b/FreeRTOS/portable/MemMang/heap_2.c new file mode 100644 index 0000000..c783988 --- /dev/null +++ b/FreeRTOS/portable/MemMang/heap_2.c @@ -0,0 +1,251 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** +*/ + +/* + * A sample implementation of pvPortMalloc() and vPortFree() that permits + * allocated blocks to be freed, but does not combine adjacent free blocks + * into a single larger block. + * + * See heap_1.c and heap_3.c for alternative implementations, and the memory + * management pages of http://www.FreeRTOS.org for more information. + */ +#include + +#include "FreeRTOS.h" +#include "task.h" + +/* Setup the correct byte alignment mask for the defined byte alignment. */ + +#if portBYTE_ALIGNMENT == 8 + #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0007 ) +#endif + +#if portBYTE_ALIGNMENT == 4 + #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0003 ) +#endif + +#if portBYTE_ALIGNMENT == 2 + #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0001 ) +#endif + +#if portBYTE_ALIGNMENT == 1 + #define heapBYTE_ALIGNMENT_MASK ( ( size_t ) 0x0000 ) +#endif + +#ifndef heapBYTE_ALIGNMENT_MASK + #error "Invalid portBYTE_ALIGNMENT definition" +#endif + +/* Allocate the memory for the heap. The struct is used to force byte +alignment without using any non-portable code. */ +static struct xRTOS_HEAP +{ + unsigned portLONG ulDummy; + unsigned portCHAR ucHeap[ configTOTAL_HEAP_SIZE ]; +} xHeap; + +/* Define the linked list structure. This is used to link free blocks in order +of their size. */ +typedef struct A_BLOCK_LINK +{ + struct A_BLOCK_LINK *pxNextFreeBlock; /*<< The next free block in the list. */ + size_t xBlockSize; /*<< The size of the free block. */ +} xBlockLink; + + +static const unsigned portSHORT heapSTRUCT_SIZE = ( sizeof( xBlockLink ) + ( sizeof( xBlockLink ) % portBYTE_ALIGNMENT ) ); +#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( heapSTRUCT_SIZE * 2 ) ) + +/* Create a couple of list links to mark the start and end of the list. */ +static xBlockLink xStart, xEnd; + +/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */ + +/* + * Insert a block into the list of free blocks - which is ordered by size of + * the block. Small blocks at the start of the list and large blocks at the end + * of the list. + */ +#define prvInsertBlockIntoFreeList( pxBlockToInsert ) \ +{ \ +xBlockLink *pxIterator; \ +size_t xBlockSize; \ + \ + xBlockSize = pxBlockToInsert->xBlockSize; \ + \ + /* Iterate through the list until a block is found that has a larger size */ \ + /* than the block we are inserting. */ \ + for( pxIterator = &xStart; pxIterator->pxNextFreeBlock->xBlockSize < xBlockSize; pxIterator = pxIterator->pxNextFreeBlock ) \ + { \ + /* There is nothing to do here - just iterate to the correct position. */ \ + } \ + \ + /* Update the list to include the block being inserted in the correct */ \ + /* position. */ \ + pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; \ + pxIterator->pxNextFreeBlock = pxBlockToInsert; \ +} +/*-----------------------------------------------------------*/ + +#define prvHeapInit() \ +{ \ +xBlockLink *pxFirstFreeBlock; \ + \ + /* xStart is used to hold a pointer to the first item in the list of free */ \ + /* blocks. The void cast is used to prevent compiler warnings. */ \ + xStart.pxNextFreeBlock = ( void * ) xHeap.ucHeap; \ + xStart.xBlockSize = ( size_t ) 0; \ + \ + /* xEnd is used to mark the end of the list of free blocks. */ \ + xEnd.xBlockSize = configTOTAL_HEAP_SIZE; \ + xEnd.pxNextFreeBlock = NULL; \ + \ + /* To start with there is a single free block that is sized to take up the \ + entire heap space. */ \ + pxFirstFreeBlock = ( void * ) xHeap.ucHeap; \ + pxFirstFreeBlock->xBlockSize = configTOTAL_HEAP_SIZE; \ + pxFirstFreeBlock->pxNextFreeBlock = &xEnd; \ +} +/*-----------------------------------------------------------*/ + +void *pvPortMalloc( size_t xWantedSize ) +{ +xBlockLink *pxBlock, *pxPreviousBlock, *pxNewBlockLink; +static portBASE_TYPE xHeapHasBeenInitialised = pdFALSE; +void *pvReturn = NULL; + + vTaskSuspendAll(); + { + /* If this is the first call to malloc then the heap will require + initialisation to setup the list of free blocks. */ + if( xHeapHasBeenInitialised == pdFALSE ) + { + prvHeapInit(); + xHeapHasBeenInitialised = pdTRUE; + } + + /* The wanted size is increased so it can contain a xBlockLink + structure in addition to the requested amount of bytes. */ + if( xWantedSize > 0 ) + { + xWantedSize += heapSTRUCT_SIZE; + + /* Ensure that blocks are always aligned to the required number of bytes. */ + if( xWantedSize & heapBYTE_ALIGNMENT_MASK ) + { + /* Byte alignment required. */ + xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & heapBYTE_ALIGNMENT_MASK ) ); + } + } + + if( ( xWantedSize > 0 ) && ( xWantedSize < configTOTAL_HEAP_SIZE ) ) + { + /* Blocks are stored in byte order - traverse the list from the start + (smallest) block until one of adequate size is found. */ + pxPreviousBlock = &xStart; + pxBlock = xStart.pxNextFreeBlock; + while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock ) ) + { + pxPreviousBlock = pxBlock; + pxBlock = pxBlock->pxNextFreeBlock; + } + + /* If we found the end marker then a block of adequate size was not found. */ + if( pxBlock != &xEnd ) + { + /* Return the memory space - jumping over the xBlockLink structure + at its start. */ + pvReturn = ( void * ) ( ( ( unsigned portCHAR * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE ); + + /* This block is being returned for use so must be taken our of the + list of free blocks. */ + pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock; + + /* If the block is larger than required it can be split into two. */ + if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE ) + { + /* This block is to be split into two. Create a new block + following the number of bytes requested. The void cast is + used to prevent byte alignment warnings from the compiler. */ + pxNewBlockLink = ( void * ) ( ( ( unsigned portCHAR * ) pxBlock ) + xWantedSize ); + + /* Calculate the sizes of two blocks split from the single + block. */ + pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize; + pxBlock->xBlockSize = xWantedSize; + + /* Insert the new block into the list of free blocks. */ + prvInsertBlockIntoFreeList( ( pxNewBlockLink ) ); + } + } + } + } + xTaskResumeAll(); + + return pvReturn; +} +/*-----------------------------------------------------------*/ + +void vPortFree( void *pv ) +{ +unsigned portCHAR *puc = ( unsigned portCHAR * ) pv; +xBlockLink *pxLink; + + if( pv ) + { + /* The memory being freed will have an xBlockLink structure immediately + before it. */ + puc -= heapSTRUCT_SIZE; + + /* This casting is to keep the compiler from issuing warnings. */ + pxLink = ( void * ) puc; + + vTaskSuspendAll(); + { + /* Add this block to the list of free blocks. */ + prvInsertBlockIntoFreeList( ( ( xBlockLink * ) pxLink ) ); + } + xTaskResumeAll(); + } +} +/*-----------------------------------------------------------*/ + diff --git a/FreeRTOS/portable/MemMang/heap_3.c b/FreeRTOS/portable/MemMang/heap_3.c new file mode 100644 index 0000000..6ae5e1d --- /dev/null +++ b/FreeRTOS/portable/MemMang/heap_3.c @@ -0,0 +1,89 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** +*/ + + +/* + * Implementation of pvPortMalloc() and vPortFree() that relies on the + * compilers own malloc() and free() implementations. + * + * This file can only be used if the linker is configured to to generate + * a heap memory area. + * + * See heap_2.c and heap_1.c for alternative implementations, and the memory + * management pages of http://www.FreeRTOS.org for more information. + */ + +#include + +#include "FreeRTOS.h" +#include "task.h" + +/*-----------------------------------------------------------*/ + +void *pvPortMalloc( size_t xWantedSize ) +{ +void *pvReturn; + + vTaskSuspendAll(); + { + pvReturn = malloc( xWantedSize ); + } + xTaskResumeAll(); + + return pvReturn; +} +/*-----------------------------------------------------------*/ + +void vPortFree( void *pv ) +{ + if( pv ) + { + vTaskSuspendAll(); + { + free( pv ); + } + xTaskResumeAll(); + } +} + + + diff --git a/FreeRTOS/portable/readme.txt b/FreeRTOS/portable/readme.txt new file mode 100644 index 0000000..a20d687 --- /dev/null +++ b/FreeRTOS/portable/readme.txt @@ -0,0 +1,19 @@ +Each real time kernel port consists of three files that contain the core kernel +components and are common to every port, and one or more files that are +specific to a particular microcontroller and/or compiler. + + ++ The FreeRTOS/Source/Portable/MemMang directory contains the three sample +memory allocators as described on the http://www.FreeRTOS.org WEB site. + ++ The other directories each contain files specific to a particular +microcontroller or compiler. + + + +For example, if you are interested in the GCC port for the ATMega323 +microcontroller then the port specific files are contained in +FreeRTOS/Source/Portable/GCC/ATMega323 directory. If this is the only +port you are interested in then all the other directories can be +ignored. + diff --git a/FreeRTOS/queue.c b/FreeRTOS/queue.c new file mode 100644 index 0000000..a5c7591 --- /dev/null +++ b/FreeRTOS/queue.c @@ -0,0 +1,1322 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** +*/ + +#include +#include +#include "FreeRTOS.h" +#include "task.h" +#include "croutine.h" + +/*----------------------------------------------------------- + * PUBLIC LIST API documented in list.h + *----------------------------------------------------------*/ + +/* Constants used with the cRxLock and cTxLock structure members. */ +#define queueUNLOCKED ( ( signed portBASE_TYPE ) -1 ) +#define queueERRONEOUS_UNBLOCK ( -1 ) + +/* For internal use only. */ +#define queueSEND_TO_BACK ( 0 ) +#define queueSEND_TO_FRONT ( 1 ) + +/* Effectively make a union out of the xQUEUE structure. */ +#define pxMutexHolder pcTail +#define uxQueueType pcHead +#define uxRecursiveCallCount pcReadFrom +#define queueQUEUE_IS_MUTEX NULL + +/* Semaphores do not actually store or copy data, so have an items size of +zero. */ +#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( 0 ) +#define queueDONT_BLOCK ( ( portTickType ) 0 ) +#define queueMUTEX_GIVE_BLOCK_TIME ( ( portTickType ) 0 ) +/* + * Definition of the queue used by the scheduler. + * Items are queued by copy, not reference. + */ +typedef struct QueueDefinition +{ + signed portCHAR *pcHead; /*< Points to the beginning of the queue storage area. */ + signed portCHAR *pcTail; /*< Points to the byte at the end of the queue storage area. Once more byte is allocated than necessary to store the queue items, this is used as a marker. */ + + signed portCHAR *pcWriteTo; /*< Points to the free next place in the storage area. */ + signed portCHAR *pcReadFrom; /*< Points to the last place that a queued item was read from. */ + + xList xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */ + xList xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */ + + volatile unsigned portBASE_TYPE uxMessagesWaiting;/*< The number of items currently in the queue. */ + unsigned portBASE_TYPE uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */ + unsigned portBASE_TYPE uxItemSize; /*< The size of each items that the queue will hold. */ + + signed portBASE_TYPE xRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */ + signed portBASE_TYPE xTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */ +} xQUEUE; +/*-----------------------------------------------------------*/ + +/* + * Inside this file xQueueHandle is a pointer to a xQUEUE structure. + * To keep the definition private the API header file defines it as a + * pointer to void. + */ +typedef xQUEUE * xQueueHandle; + +/* + * Prototypes for public functions are included here so we don't have to + * include the API header file (as it defines xQueueHandle differently). These + * functions are documented in the API header file. + */ +xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize ); +signed portBASE_TYPE xQueueGenericSend( xQueueHandle xQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ); +unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue ); +void vQueueDelete( xQueueHandle xQueue ); +signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE xTaskPreviouslyWoken, portBASE_TYPE xCopyPosition ); +signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ); +signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, const void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken ); +xQueueHandle xQueueCreateMutex( void ); +xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ); +portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle xMutex, portTickType xBlockTime ); +portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle xMutex ); +signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ); +signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ); + +#if configUSE_CO_ROUTINES == 1 + signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ); + signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxTaskWoken ); + signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ); + signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ); +#endif + +/* + * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not + * prevent an ISR from adding or removing items to the queue, but does prevent + * an ISR from removing tasks from the queue event lists. If an ISR finds a + * queue is locked it will instead increment the appropriate queue lock count + * to indicate that a task may require unblocking. When the queue in unlocked + * these lock counts are inspected, and the appropriate action taken. + */ +static void prvUnlockQueue( xQueueHandle pxQueue ); + +/* + * Uses a critical section to determine if there is any data in a queue. + * + * @return pdTRUE if the queue contains no items, otherwise pdFALSE. + */ +static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue ); + +/* + * Uses a critical section to determine if there is any space in a queue. + * + * @return pdTRUE if there is no space, otherwise pdFALSE; + */ +static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue ); + +/* + * Copies an item into the queue, either at the front of the queue or the + * back of the queue. + */ +static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition ); + +/* + * Copies an item out of a queue. + */ +static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ); +/*-----------------------------------------------------------*/ + +/* + * Macro to mark a queue as locked. Locking a queue prevents an ISR from + * accessing the queue event lists. + */ +#define prvLockQueue( pxQueue ) \ +{ \ + taskENTER_CRITICAL(); \ + ++( pxQueue->xRxLock ); \ + ++( pxQueue->xTxLock ); \ + taskEXIT_CRITICAL(); \ +} +/*-----------------------------------------------------------*/ + + +/*----------------------------------------------------------- + * PUBLIC QUEUE MANAGEMENT API documented in queue.h + *----------------------------------------------------------*/ + +xQueueHandle xQueueCreate( unsigned portBASE_TYPE uxQueueLength, unsigned portBASE_TYPE uxItemSize ) +{ +xQUEUE *pxNewQueue; +size_t xQueueSizeInBytes; + + /* Allocate the new queue structure. */ + if( uxQueueLength > ( unsigned portBASE_TYPE ) 0 ) + { + pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) ); + if( pxNewQueue != NULL ) + { + /* Create the list of pointers to queue items. The queue is one byte + longer than asked for to make wrap checking easier/faster. */ + xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ) + ( size_t ) 1; + + pxNewQueue->pcHead = ( signed portCHAR * ) pvPortMalloc( xQueueSizeInBytes ); + if( pxNewQueue->pcHead != NULL ) + { + /* Initialise the queue members as described above where the + queue type is defined. */ + pxNewQueue->pcTail = pxNewQueue->pcHead + ( uxQueueLength * uxItemSize ); + pxNewQueue->uxMessagesWaiting = 0; + pxNewQueue->pcWriteTo = pxNewQueue->pcHead; + pxNewQueue->pcReadFrom = pxNewQueue->pcHead + ( ( uxQueueLength - 1 ) * uxItemSize ); + pxNewQueue->uxLength = uxQueueLength; + pxNewQueue->uxItemSize = uxItemSize; + pxNewQueue->xRxLock = queueUNLOCKED; + pxNewQueue->xTxLock = queueUNLOCKED; + + /* Likewise ensure the event queues start with the correct state. */ + vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) ); + vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) ); + + return pxNewQueue; + } + else + { + vPortFree( pxNewQueue ); + } + } + } + + /* Will only reach here if we could not allocate enough memory or no memory + was required. */ + return NULL; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_MUTEXES == 1 ) + + xQueueHandle xQueueCreateMutex( void ) + { + xQUEUE *pxNewQueue; + + /* Allocate the new queue structure. */ + pxNewQueue = ( xQUEUE * ) pvPortMalloc( sizeof( xQUEUE ) ); + if( pxNewQueue != NULL ) + { + /* Information required for priority inheritance. */ + pxNewQueue->pxMutexHolder = NULL; + pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX; + + /* Queues used as a mutex no data is actually copied into or out + of the queue. */ + pxNewQueue->pcWriteTo = NULL; + pxNewQueue->pcReadFrom = NULL; + + /* Each mutex has a length of 1 (like a binary semaphore) and + an item size of 0 as nothing is actually copied into or out + of the mutex. */ + pxNewQueue->uxMessagesWaiting = 0; + pxNewQueue->uxLength = 1; + pxNewQueue->uxItemSize = 0; + pxNewQueue->xRxLock = queueUNLOCKED; + pxNewQueue->xTxLock = queueUNLOCKED; + + /* Ensure the event queues start with the correct state. */ + vListInitialise( &( pxNewQueue->xTasksWaitingToSend ) ); + vListInitialise( &( pxNewQueue->xTasksWaitingToReceive ) ); + + /* Start with the semaphore in the expected state. */ + xQueueGenericSend( pxNewQueue, NULL, 0, queueSEND_TO_BACK ); + } + + return pxNewQueue; + } + +#endif /* configUSE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if configUSE_RECURSIVE_MUTEXES == 1 + + portBASE_TYPE xQueueGiveMutexRecursive( xQueueHandle pxMutex ) + { + portBASE_TYPE xReturn; + + /* If this is the task that holds the mutex then pxMutexHolder will not + change outside of this task. If this task does not hold the mutex then + pxMutexHolder can never coincidentally equal the tasks handle, and as + this is the only condition we are interested in it does not matter if + pxMutexHolder is accessed simultaneously by another task. Therefore no + mutual exclusion is required to test the pxMutexHolder variable. */ + if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() ) + { + /* uxRecursiveCallCount cannot be zero if pxMutexHolder is equal to + the task handle, therefore no underflow check is required. Also, + uxRecursiveCallCount is only modified by the mutex holder, and as + there can only be one, no mutual exclusion is required to modify the + uxRecursiveCallCount member. */ + ( pxMutex->uxRecursiveCallCount )--; + + /* Have we unwound the call count? */ + if( pxMutex->uxRecursiveCallCount == 0 ) + { + /* Return the mutex. This will automatically unblock any other + task that might be waiting to access the mutex. */ + xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK ); + } + + xReturn = pdPASS; + } + else + { + /* We cannot give the mutex because we are not the holder. */ + xReturn = pdFAIL; + } + + return xReturn; + } + +#endif /* configUSE_RECURSIVE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if configUSE_RECURSIVE_MUTEXES == 1 + + portBASE_TYPE xQueueTakeMutexRecursive( xQueueHandle pxMutex, portTickType xBlockTime ) + { + portBASE_TYPE xReturn; + + /* Comments regarding mutual exclusion as per those within + xQueueGiveMutexRecursive(). */ + + if( pxMutex->pxMutexHolder == xTaskGetCurrentTaskHandle() ) + { + ( pxMutex->uxRecursiveCallCount )++; + xReturn = pdPASS; + } + else + { + xReturn = xQueueGenericReceive( pxMutex, NULL, xBlockTime, pdFALSE ); + + /* pdPASS will only be returned if we successfully obtained the mutex, + we may have blocked to reach here. */ + if( xReturn == pdPASS ) + { + ( pxMutex->uxRecursiveCallCount )++; + } + } + + return xReturn; + } + +#endif /* configUSE_RECURSIVE_MUTEXES */ +/*-----------------------------------------------------------*/ + +#if configUSE_COUNTING_SEMAPHORES == 1 + + xQueueHandle xQueueCreateCountingSemaphore( unsigned portBASE_TYPE uxCountValue, unsigned portBASE_TYPE uxInitialCount ) + { + xQueueHandle pxHandle; + + pxHandle = xQueueCreate( ( unsigned portBASE_TYPE ) uxCountValue, queueSEMAPHORE_QUEUE_ITEM_LENGTH ); + + if( pxHandle != NULL ) + { + pxHandle->uxMessagesWaiting = uxInitialCount; + } + + return pxHandle; + } + +#endif /* configUSE_COUNTING_SEMAPHORES */ +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xQueueGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) +{ +signed portBASE_TYPE xReturn = pdPASS; +xTimeOutType xTimeOut; + + /* Make sure other tasks do not access the queue. */ + vTaskSuspendAll(); + + /* Capture the current time status for future reference. */ + vTaskSetTimeOutState( &xTimeOut ); + + /* It is important that this is the only thread/ISR that modifies the + ready or delayed lists until xTaskResumeAll() is called. Places where + the ready/delayed lists are modified include: + + + vTaskDelay() - Nothing can call vTaskDelay as the scheduler is + suspended, vTaskDelay() cannot be called from an ISR. + + vTaskPrioritySet() - Has a critical section around the access. + + vTaskSwitchContext() - This will not get executed while the scheduler + is suspended. + + prvCheckDelayedTasks() - This will not get executed while the + scheduler is suspended. + + xTaskCreate() - Has a critical section around the access. + + vTaskResume() - Has a critical section around the access. + + xTaskResumeAll() - Has a critical section around the access. + + xTaskRemoveFromEventList - Checks to see if the scheduler is + suspended. If so then the TCB being removed from the event is + removed from the event and added to the xPendingReadyList. + */ + + /* Make sure interrupts do not access the queue event list. */ + prvLockQueue( pxQueue ); + + /* It is important that interrupts to not access the event list of the + queue being modified here. Places where the event list is modified + include: + + + xQueueGenericSendFromISR(). This checks the lock on the queue to see + if it has access. If the queue is locked then the Tx lock count is + incremented to signify that a task waiting for data can be made ready + once the queue lock is removed. If the queue is not locked then + a task can be moved from the event list, but will not be removed + from the delayed list or placed in the ready list until the scheduler + is unlocked. + + + xQueueReceiveFromISR(). As per xQueueGenericSendFromISR(). + */ + + /* If the queue is already full we may have to block. */ + do + { + if( prvIsQueueFull( pxQueue ) ) + { + /* The queue is full - do we want to block or just leave without + posting? */ + if( xTicksToWait > ( portTickType ) 0 ) + { + /* We are going to place ourselves on the xTasksWaitingToSend event + list, and will get woken should the delay expire, or space become + available on the queue. + + As detailed above we do not require mutual exclusion on the event + list as nothing else can modify it or the ready lists while we + have the scheduler suspended and queue locked. + + It is possible that an ISR has removed data from the queue since we + checked if any was available. If this is the case then the data + will have been copied from the queue, and the queue variables + updated, but the event list will not yet have been checked to see if + anything is waiting as the queue is locked. */ + vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait ); + + /* Force a context switch now as we are blocked. We can do + this from within a critical section as the task we are + switching to has its own context. When we return here (i.e. we + unblock) we will leave the critical section as normal. + + It is possible that an ISR has caused an event on an unrelated and + unlocked queue. If this was the case then the event list for that + queue will have been updated but the ready lists left unchanged - + instead the readied task will have been added to the pending ready + list. */ + taskENTER_CRITICAL(); + { + /* We can safely unlock the queue and scheduler here as + interrupts are disabled. We must not yield with anything + locked, but we can yield from within a critical section. + + Tasks that have been placed on the pending ready list cannot + be tasks that are waiting for events on this queue. See + in comment xTaskRemoveFromEventList(). */ + prvUnlockQueue( pxQueue ); + + /* Resuming the scheduler may cause a yield. If so then there + is no point yielding again here. */ + if( !xTaskResumeAll() ) + { + taskYIELD(); + } + + /* We want to check to see if the queue is still full + before leaving the critical section. This is to prevent + this task placing an item into the queue due to an + interrupt making space on the queue between critical + sections (when there might be a higher priority task + blocked on the queue that cannot run yet because the + scheduler gets suspended). */ + if( pxQueue->uxMessagesWaiting == pxQueue->uxLength ) + { + /* We unblocked but there is no space in the queue, + we probably timed out. */ + xReturn = errQUEUE_FULL; + } + + /* Before leaving the critical section we have to ensure + exclusive access again. */ + vTaskSuspendAll(); + prvLockQueue( pxQueue ); + } + taskEXIT_CRITICAL(); + } + } + + /* If xReturn is errQUEUE_FULL then we unblocked when the queue + was still full. Don't check it again now as it is possible that + an interrupt has removed an item from the queue since we left the + critical section and we don't want to write to the queue in case + there is a task of higher priority blocked waiting for space to + be available on the queue. If this is the case the higher priority + task will execute when the scheduler is unsupended. */ + if( xReturn != errQUEUE_FULL ) + { + /* When we are here it is possible that we unblocked as space became + available on the queue. It is also possible that an ISR posted to the + queue since we left the critical section, so it may be that again there + is no space. This would only happen if a task and ISR post onto the + same queue. */ + taskENTER_CRITICAL(); + { + if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) + { + /* There is room in the queue, copy the data into the queue. */ + prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); + xReturn = pdPASS; + + /* Update the TxLock count so prvUnlockQueue knows to check for + tasks waiting for data to become available in the queue. */ + ++( pxQueue->xTxLock ); + } + else + { + xReturn = errQUEUE_FULL; + } + } + taskEXIT_CRITICAL(); + } + + if( xReturn == errQUEUE_FULL ) + { + if( xTicksToWait > 0 ) + { + if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) + { + xReturn = queueERRONEOUS_UNBLOCK; + } + } + } + } + while( xReturn == queueERRONEOUS_UNBLOCK ); + + prvUnlockQueue( pxQueue ); + xTaskResumeAll(); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +#if configUSE_ALTERNATIVE_API == 1 + + signed portBASE_TYPE xQueueAltGenericSend( xQueueHandle pxQueue, const void * const pvItemToQueue, portTickType xTicksToWait, portBASE_TYPE xCopyPosition ) + { + signed portBASE_TYPE xReturn; + xTimeOutType xTimeOut; + + /* The source code that implements the alternative (Alt) API is much + simpler because it executes everything from within a critical section. + This is the approach taken by many other RTOSes, but FreeRTOS.org has the + preferred fully featured API too. The fully featured API has more + complex code that takes longer to execute, but makes much less use of + critical sections. Therefore the alternative API sacrifices interrupt + responsiveness to gain execution speed, whereas the fully featured API + sacrifices execution speed to ensure better interrupt responsiveness. */ + + taskENTER_CRITICAL(); + { + /* Capture the current time status for future reference. */ + vTaskSetTimeOutState( &xTimeOut ); + + /* If the queue is already full we may have to block. */ + do + { + if( pxQueue->uxMessagesWaiting == pxQueue->uxLength ) + { + /* The queue is full - do we want to block or just leave without + posting? */ + if( xTicksToWait > ( portTickType ) 0 ) + { + /* We are going to place ourselves on the xTasksWaitingToSend + event list, and will get woken should the delay expire, or + space become available on the queue. */ + vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait ); + + /* Force a context switch now as we are blocked. We can do + this from within a critical section as the task we are + switching to has its own context. When we return here (i.e. + we unblock) we will leave the critical section as normal. */ + taskYIELD(); + } + } + + if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) + { + /* There is room in the queue, copy the data into the queue. */ + prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); + xReturn = pdPASS; + + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority. */ + taskYIELD(); + } + } + } + else + { + xReturn = errQUEUE_FULL; + + if( xTicksToWait > 0 ) + { + if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) + { + /* Another task must have accessed the queue between + this task unblocking and actually executing. */ + xReturn = queueERRONEOUS_UNBLOCK; + } + } + } + } + while( xReturn == queueERRONEOUS_UNBLOCK ); + } + taskEXIT_CRITICAL(); + + return xReturn; + } + +#endif /* configUSE_ALTERNATIVE_API */ +/*-----------------------------------------------------------*/ + +#if configUSE_ALTERNATIVE_API == 1 + + signed portBASE_TYPE xQueueAltGenericReceive( xQueueHandle pxQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) + { + signed portBASE_TYPE xReturn = pdTRUE; + xTimeOutType xTimeOut; + signed portCHAR *pcOriginalReadPosition; + + /* The source code that implements the alternative (Alt) API is much + simpler because it executes everything from within a critical section. + This is the approach taken by many other RTOSes, but FreeRTOS.org has the + preferred fully featured API too. The fully featured API has more + complex code that takes longer to execute, but makes much less use of + critical sections. Therefore the alternative API sacrifices interrupt + responsiveness to gain execution speed, whereas the fully featured API + sacrifices execution speed to ensure better interrupt responsiveness. */ + + taskENTER_CRITICAL(); + { + /* Capture the current time status for future reference. */ + vTaskSetTimeOutState( &xTimeOut ); + + do + { + /* If there are no messages in the queue we may have to block. */ + if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ) + { + /* There are no messages in the queue, do we want to block or just + leave with nothing? */ + if( xTicksToWait > ( portTickType ) 0 ) + { + #if ( configUSE_MUTEXES == 1 ) + { + if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) + { + vTaskPriorityInherit( ( void * const ) pxQueue->pxMutexHolder ); + } + } + #endif + + vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); + taskYIELD(); + } + } + + if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) + { + /* Remember our read position in case we are just peeking. */ + pcOriginalReadPosition = pxQueue->pcReadFrom; + + prvCopyDataFromQueue( pxQueue, pvBuffer ); + + if( xJustPeeking == pdFALSE ) + { + /* We are actually removing data. */ + --( pxQueue->uxMessagesWaiting ); + + #if ( configUSE_MUTEXES == 1 ) + { + if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) + { + /* Record the information required to implement + priority inheritance should it become necessary. */ + pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle(); + } + } + #endif + + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + /* The task waiting has a higher priority. */ + taskYIELD(); + } + } + } + else + { + /* We are not removing the data, so reset our read + pointer. */ + pxQueue->pcReadFrom = pcOriginalReadPosition; + } + + xReturn = pdPASS; + } + else + { + xReturn = errQUEUE_EMPTY; + + if( xTicksToWait > 0 ) + { + if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) + { + xReturn = queueERRONEOUS_UNBLOCK; + } + } + } + + } while( xReturn == queueERRONEOUS_UNBLOCK ); + } + taskEXIT_CRITICAL(); + + return xReturn; + } + +#endif /* configUSE_ALTERNATIVE_API */ +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xQueueGenericSendFromISR( xQueueHandle pxQueue, const void * const pvItemToQueue, signed portBASE_TYPE xTaskPreviouslyWoken, portBASE_TYPE xCopyPosition ) +{ + /* Similar to xQueueGenericSend, except we don't block if there is no room + in the queue. Also we don't directly wake a task that was blocked on a + queue read, instead we return a flag to say whether a context switch is + required or not (i.e. has a task with a higher priority than us been woken + by this post). */ + if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) + { + prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition ); + + /* If the queue is locked we do not alter the event list. This will + be done when the queue is unlocked later. */ + if( pxQueue->xTxLock == queueUNLOCKED ) + { + /* We only want to wake one task per ISR, so check that a task has + not already been woken. */ + if( !xTaskPreviouslyWoken ) + { + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority so record that a + context switch is required. */ + return pdTRUE; + } + } + } + } + else + { + /* Increment the lock count so the task that unlocks the queue + knows that data was posted while it was locked. */ + ++( pxQueue->xTxLock ); + } + } + + return xTaskPreviouslyWoken; +} +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xQueueGenericReceive( xQueueHandle pxQueue, const void * const pvBuffer, portTickType xTicksToWait, portBASE_TYPE xJustPeeking ) +{ +signed portBASE_TYPE xReturn = pdTRUE; +xTimeOutType xTimeOut; +signed portCHAR *pcOriginalReadPosition; + + /* This function is very similar to xQueueGenericSend(). See comments + within xQueueGenericSend() for a more detailed explanation. + + Make sure other tasks do not access the queue. */ + vTaskSuspendAll(); + + /* Capture the current time status for future reference. */ + vTaskSetTimeOutState( &xTimeOut ); + + /* Make sure interrupts do not access the queue. */ + prvLockQueue( pxQueue ); + + do + { + /* If there are no messages in the queue we may have to block. */ + if( prvIsQueueEmpty( pxQueue ) ) + { + /* There are no messages in the queue, do we want to block or just + leave with nothing? */ + if( xTicksToWait > ( portTickType ) 0 ) + { + #if ( configUSE_MUTEXES == 1 ) + { + if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) + { + portENTER_CRITICAL(); + vTaskPriorityInherit( ( void * ) pxQueue->pxMutexHolder ); + portEXIT_CRITICAL(); + } + } + #endif + + vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait ); + taskENTER_CRITICAL(); + { + prvUnlockQueue( pxQueue ); + if( !xTaskResumeAll() ) + { + taskYIELD(); + } + + if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ) + { + /* We unblocked but the queue is empty. We probably + timed out. */ + xReturn = errQUEUE_EMPTY; + } + + vTaskSuspendAll(); + prvLockQueue( pxQueue ); + } + taskEXIT_CRITICAL(); + } + } + + if( xReturn != errQUEUE_EMPTY ) + { + taskENTER_CRITICAL(); + { + if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) + { + /* Remember our read position in case we are just peeking. */ + pcOriginalReadPosition = pxQueue->pcReadFrom; + + prvCopyDataFromQueue( pxQueue, pvBuffer ); + + if( xJustPeeking == pdFALSE ) + { + /* We are actually removing data. */ + --( pxQueue->uxMessagesWaiting ); + + /* Increment the lock count so prvUnlockQueue knows to check for + tasks waiting for space to become available on the queue. */ + ++( pxQueue->xRxLock ); + + #if ( configUSE_MUTEXES == 1 ) + { + if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) + { + /* Record the information required to implement + priority inheritance should it become necessary. */ + pxQueue->pxMutexHolder = xTaskGetCurrentTaskHandle(); + } + } + #endif + } + else + { + /* We are not removing the data, so reset our read + pointer. */ + pxQueue->pcReadFrom = pcOriginalReadPosition; + + /* The data is being left in the queue, so increment the + lock count so prvUnlockQueue knows to check for other + tasks waiting for the data to be available. */ + ++( pxQueue->xTxLock ); + } + + xReturn = pdPASS; + } + else + { + xReturn = errQUEUE_EMPTY; + } + } + taskEXIT_CRITICAL(); + } + + if( xReturn == errQUEUE_EMPTY ) + { + if( xTicksToWait > 0 ) + { + if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE ) + { + xReturn = queueERRONEOUS_UNBLOCK; + } + } + } + } while( xReturn == queueERRONEOUS_UNBLOCK ); + + /* We no longer require exclusive access to the queue. */ + prvUnlockQueue( pxQueue ); + xTaskResumeAll(); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xQueueReceiveFromISR( xQueueHandle pxQueue, const void * const pvBuffer, signed portBASE_TYPE *pxTaskWoken ) +{ +signed portBASE_TYPE xReturn; + + /* We cannot block from an ISR, so check there is data available. */ + if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) + { + prvCopyDataFromQueue( pxQueue, pvBuffer ); + --( pxQueue->uxMessagesWaiting ); + + /* If the queue is locked we will not modify the event list. Instead + we update the lock count so the task that unlocks the queue will know + that an ISR has removed data while the queue was locked. */ + if( pxQueue->xRxLock == queueUNLOCKED ) + { + /* We only want to wake one task per ISR, so check that a task has + not already been woken. */ + if( !( *pxTaskWoken ) ) + { + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + /* The task waiting has a higher priority than us so + force a context switch. */ + *pxTaskWoken = pdTRUE; + } + } + } + } + else + { + /* Increment the lock count so the task that unlocks the queue + knows that data was removed while it was locked. */ + ++( pxQueue->xRxLock ); + } + + xReturn = pdPASS; + } + else + { + xReturn = pdFAIL; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +unsigned portBASE_TYPE uxQueueMessagesWaiting( const xQueueHandle pxQueue ) +{ +unsigned portBASE_TYPE uxReturn; + + taskENTER_CRITICAL(); + uxReturn = pxQueue->uxMessagesWaiting; + taskEXIT_CRITICAL(); + + return uxReturn; +} +/*-----------------------------------------------------------*/ + +void vQueueDelete( xQueueHandle pxQueue ) +{ + vPortFree( pxQueue->pcHead ); + vPortFree( pxQueue ); +} +/*-----------------------------------------------------------*/ + +static void prvCopyDataToQueue( xQUEUE *pxQueue, const void *pvItemToQueue, portBASE_TYPE xPosition ) +{ + if( pxQueue->uxItemSize == 0 ) + { + #if ( configUSE_MUTEXES == 1 ) + { + if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) + { + /* The mutex is no longer being held. */ + vTaskPriorityDisinherit( ( void * ) pxQueue->pxMutexHolder ); + pxQueue->pxMutexHolder = NULL; + } + } + #endif + } + else if( xPosition == queueSEND_TO_BACK ) + { + memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize ); + pxQueue->pcWriteTo += pxQueue->uxItemSize; + if( pxQueue->pcWriteTo >= pxQueue->pcTail ) + { + pxQueue->pcWriteTo = pxQueue->pcHead; + } + } + else + { + memcpy( ( void * ) pxQueue->pcReadFrom, pvItemToQueue, ( unsigned ) pxQueue->uxItemSize ); + pxQueue->pcReadFrom -= pxQueue->uxItemSize; + if( pxQueue->pcReadFrom < pxQueue->pcHead ) + { + pxQueue->pcReadFrom = ( pxQueue->pcTail - pxQueue->uxItemSize ); + } + } + + ++( pxQueue->uxMessagesWaiting ); +} +/*-----------------------------------------------------------*/ + +static void prvCopyDataFromQueue( xQUEUE * const pxQueue, const void *pvBuffer ) +{ + if( pxQueue->uxQueueType != queueQUEUE_IS_MUTEX ) + { + pxQueue->pcReadFrom += pxQueue->uxItemSize; + if( pxQueue->pcReadFrom >= pxQueue->pcTail ) + { + pxQueue->pcReadFrom = pxQueue->pcHead; + } + memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); + } +} +/*-----------------------------------------------------------*/ + +static void prvUnlockQueue( xQueueHandle pxQueue ) +{ + /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */ + + /* The lock counts contains the number of extra data items placed or + removed from the queue while the queue was locked. When a queue is + locked items can be added or removed, but the event lists cannot be + updated. */ + taskENTER_CRITICAL(); + { + --( pxQueue->xTxLock ); + + /* See if data was added to the queue while it was locked. */ + if( pxQueue->xTxLock > queueUNLOCKED ) + { + pxQueue->xTxLock = queueUNLOCKED; + + /* Data was posted while the queue was locked. Are any tasks + blocked waiting for data to become available? */ + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) ) + { + /* Tasks that are removed from the event list will get added to + the pending ready list as the scheduler is still suspended. */ + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The task waiting has a higher priority so record that a + context switch is required. */ + vTaskMissedYield(); + } + } + } + } + taskEXIT_CRITICAL(); + + /* Do the same for the Rx lock. */ + taskENTER_CRITICAL(); + { + --( pxQueue->xRxLock ); + + if( pxQueue->xRxLock > queueUNLOCKED ) + { + pxQueue->xRxLock = queueUNLOCKED; + + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) ) + { + if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + vTaskMissedYield(); + } + } + } + } + taskEXIT_CRITICAL(); +} +/*-----------------------------------------------------------*/ + +static signed portBASE_TYPE prvIsQueueEmpty( const xQueueHandle pxQueue ) +{ +signed portBASE_TYPE xReturn; + + taskENTER_CRITICAL(); + xReturn = ( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ); + taskEXIT_CRITICAL(); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +static signed portBASE_TYPE prvIsQueueFull( const xQueueHandle pxQueue ) +{ +signed portBASE_TYPE xReturn; + + taskENTER_CRITICAL(); + xReturn = ( pxQueue->uxMessagesWaiting == pxQueue->uxLength ); + taskEXIT_CRITICAL(); + + return xReturn; +} +/*-----------------------------------------------------------*/ + +#if configUSE_CO_ROUTINES == 1 +signed portBASE_TYPE xQueueCRSend( xQueueHandle pxQueue, const void *pvItemToQueue, portTickType xTicksToWait ) +{ +signed portBASE_TYPE xReturn; + + /* If the queue is already full we may have to block. A critical section + is required to prevent an interrupt removing something from the queue + between the check to see if the queue is full and blocking on the queue. */ + portDISABLE_INTERRUPTS(); + { + if( prvIsQueueFull( pxQueue ) ) + { + /* The queue is full - do we want to block or just leave without + posting? */ + if( xTicksToWait > ( portTickType ) 0 ) + { + /* As this is called from a coroutine we cannot block directly, but + return indicating that we need to block. */ + vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) ); + portENABLE_INTERRUPTS(); + return errQUEUE_BLOCKED; + } + else + { + portENABLE_INTERRUPTS(); + return errQUEUE_FULL; + } + } + } + portENABLE_INTERRUPTS(); + + portNOP(); + + portDISABLE_INTERRUPTS(); + { + if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) + { + /* There is room in the queue, copy the data into the queue. */ + prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK ); + xReturn = pdPASS; + + /* Were any co-routines waiting for data to become available? */ + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) ) + { + /* In this instance the co-routine could be placed directly + into the ready list as we are within a critical section. + Instead the same pending ready list mechanism is used as if + the event were caused from within an interrupt. */ + if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + /* The co-routine waiting has a higher priority so record + that a yield might be appropriate. */ + xReturn = errQUEUE_YIELD; + } + } + } + else + { + xReturn = errQUEUE_FULL; + } + } + portENABLE_INTERRUPTS(); + + return xReturn; +} +#endif +/*-----------------------------------------------------------*/ + +#if configUSE_CO_ROUTINES == 1 +signed portBASE_TYPE xQueueCRReceive( xQueueHandle pxQueue, void *pvBuffer, portTickType xTicksToWait ) +{ +signed portBASE_TYPE xReturn; + + /* If the queue is already empty we may have to block. A critical section + is required to prevent an interrupt adding something to the queue + between the check to see if the queue is empty and blocking on the queue. */ + portDISABLE_INTERRUPTS(); + { + if( pxQueue->uxMessagesWaiting == ( unsigned portBASE_TYPE ) 0 ) + { + /* There are no messages in the queue, do we want to block or just + leave with nothing? */ + if( xTicksToWait > ( portTickType ) 0 ) + { + /* As this is a co-routine we cannot block directly, but return + indicating that we need to block. */ + vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) ); + portENABLE_INTERRUPTS(); + return errQUEUE_BLOCKED; + } + else + { + portENABLE_INTERRUPTS(); + return errQUEUE_FULL; + } + } + } + portENABLE_INTERRUPTS(); + + portNOP(); + + portDISABLE_INTERRUPTS(); + { + if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) + { + /* Data is available from the queue. */ + pxQueue->pcReadFrom += pxQueue->uxItemSize; + if( pxQueue->pcReadFrom >= pxQueue->pcTail ) + { + pxQueue->pcReadFrom = pxQueue->pcHead; + } + --( pxQueue->uxMessagesWaiting ); + memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); + + xReturn = pdPASS; + + /* Were any co-routines waiting for space to become available? */ + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) ) + { + /* In this instance the co-routine could be placed directly + into the ready list as we are within a critical section. + Instead the same pending ready list mechanism is used as if + the event were caused from within an interrupt. */ + if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + xReturn = errQUEUE_YIELD; + } + } + } + else + { + xReturn = pdFAIL; + } + } + portENABLE_INTERRUPTS(); + + return xReturn; +} +#endif +/*-----------------------------------------------------------*/ + + + +#if configUSE_CO_ROUTINES == 1 +signed portBASE_TYPE xQueueCRSendFromISR( xQueueHandle pxQueue, const void *pvItemToQueue, signed portBASE_TYPE xCoRoutinePreviouslyWoken ) +{ + /* Cannot block within an ISR so if there is no space on the queue then + exit without doing anything. */ + if( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) + { + prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK ); + + /* We only want to wake one co-routine per ISR, so check that a + co-routine has not already been woken. */ + if( !xCoRoutinePreviouslyWoken ) + { + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) ) + { + if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE ) + { + return pdTRUE; + } + } + } + } + + return xCoRoutinePreviouslyWoken; +} +#endif +/*-----------------------------------------------------------*/ + +#if configUSE_CO_ROUTINES == 1 +signed portBASE_TYPE xQueueCRReceiveFromISR( xQueueHandle pxQueue, void *pvBuffer, signed portBASE_TYPE *pxCoRoutineWoken ) +{ +signed portBASE_TYPE xReturn; + + /* We cannot block from an ISR, so check there is data available. If + not then just leave without doing anything. */ + if( pxQueue->uxMessagesWaiting > ( unsigned portBASE_TYPE ) 0 ) + { + /* Copy the data from the queue. */ + pxQueue->pcReadFrom += pxQueue->uxItemSize; + if( pxQueue->pcReadFrom >= pxQueue->pcTail ) + { + pxQueue->pcReadFrom = pxQueue->pcHead; + } + --( pxQueue->uxMessagesWaiting ); + memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->pcReadFrom, ( unsigned ) pxQueue->uxItemSize ); + + if( !( *pxCoRoutineWoken ) ) + { + if( !listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) ) + { + if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE ) + { + *pxCoRoutineWoken = pdTRUE; + } + } + } + + xReturn = pdPASS; + } + else + { + xReturn = pdFAIL; + } + + return xReturn; +} +#endif +/*-----------------------------------------------------------*/ + diff --git a/FreeRTOS/readme.txt b/FreeRTOS/readme.txt new file mode 100644 index 0000000..01a8781 --- /dev/null +++ b/FreeRTOS/readme.txt @@ -0,0 +1,15 @@ +Each real time kernel port consists of three files that contain the core kernel +components and are common to every port, and one or more files that are +specific to a particular microcontroller and or compiler. + ++ The FreeRTOS/Source directory contains the three files that are common to +every port. The kernel is contained within these three files. + ++ The FreeRTOS/Source/Portable directory contains the files that are specific to +a particular microcontroller and or compiler. + ++ The FreeRTOS/Source/include directory contains the real time kernel header +files. + +See the readme file in the FreeRTOS/Source/Portable directory for more +information. \ No newline at end of file diff --git a/FreeRTOS/tasks.c b/FreeRTOS/tasks.c new file mode 100644 index 0000000..cc43e7e --- /dev/null +++ b/FreeRTOS/tasks.c @@ -0,0 +1,2046 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** +*/ + +/* +Changes from V1.00: + + + Call to portRESTORE_CONTEXT has been removed. The first context + switch is now performed within sPortStartScheduler(). + +Changes from V1.01: + + + More use of 8bit data types. + + Function name prefixes changed where the data type returned has changed. + + configUSE_TRACE_FACILITY is no longer defined by default. + +Changes from V1.2.0 + + + Introduced ucTopReadyPriority. This tracks the highest priority ready + queue that contains a valid TCB and thus makes the context switch + slightly faster. + + + prvAddTaskToReadyQueue() has been made a macro. + +Changes from V1.2.6 + + + Added conditional compilation directives. + + Extended API. + + Rearranged function order. + + Creating a task now causes a context switch if the task being created + has a higher priority than the calling task - assuming the kernel is + running. + + vTaskDelete() now only causes a context switch if the calling task is + the task being deleted. + +Changes from V2.0.0 + + + Allow the type of the tick count to be 16 or 32 bits. + + Introduce xPendingReadyList feature to allow the time interrupts have to + be disabled to be minimised. + + Remove the #if( INCLUDE_vTaskSuspendAll ) statements. vTaskSuspendAll() + is now always included as it is used by the scheduler itself. + +Changes from V2.1.0 + + + Bug fix - pxCurrentTCB is now initialised before the call to + prvInitializeTaskLists(). Previously pxCurrentTCB could be accessed + while null. + +Changed from V2.1.1 + + + Change to where lStackSize is declared within sTaskCreate() to prevent + compiler warnings with 8051 port. + +Changes from V2.2.0 + + + Explicit use of 'signed' qualifier on portCHAR types added. + + Changed odd calculation of initial pxTopOfStack value when + portSTACK_GROWTH < 0. + + Removed pcVersionNumber definition. + +Changes from V2.5.3 + + + cTaskResumeAll() modified to ensure it can be called prior to the task + lists being initialised. + +Changes from V2.5.5 + + + Added API function vTaskDelayUntil(). + + Added INCLUDE_vTaskDelay conditional compilation. + +Changes from V2.6.0 + + + Updated the vWriteTraceToBuffer macro to always be 4 byte aligned so it + can be used on ARM architectures. + + tskMAX_TASK_NAME_LEN definition replaced with the port specific + configMAX_TASK_NAME_LEN definition. + + Removed the call to strcpy when copying across the task name into the + TCB. + + Added ucTasksDeleted variable to prevent vTaskSuspendAll() being called + too often in the idle task. + +Changes between V3.0.0 and V2.6.1 + + + When resuming the scheduler a yield is performed if either a tick has + been missed, or a task is moved from the pending ready list into a ready + list. Previously a yield was not performed on this second condition. + + Introduced the type portBASE_TYPE. This necessitates several API + changes. + + Removed the sUsingPreemption variable. The constant defined in + portmacro.h is now used directly. + + The idle task can now include an optional hook function - and no longer + completes its time slice if other tasks with equal priority to it are + ready to run. + + See the FreeRTOS.org documentation for more information on V2.x.x to + V3.x.x modifications. + +Changes from V3.1.1 + + + Modified vTaskPrioritySet() and vTaskResume() to allow these functions to + be called while the scheduler is suspended. + + Corrected the task ordering within event lists. + +Changes from V3.2.0 + + + Added function xTaskGetCurrentTaskHandle(). + +Changes from V3.2.4 + + + Changed the volatile declarations on some variables to reflect the + changes to the list definitions. + + Changed the order of the TCB definition so there is commonality between + the task control block and a co-routine control block. + + Allow the scheduler to be started even if no tasks other than the idle + task has been created. This allows co-routines to run even when no tasks + have been created. + + The need for a context switch is now signalled if a task woken by an + event has a priority greater or equal to the currently running task. + Previously this was only greater than. + +Changes from V4.0.0 + + + Added the xMissedYield handling. + +Changes from V4.0.1 + + + The function vTaskList() now suspends the scheduler rather than disabling + interrupts during the creation of the task list. + + Allow a task to delete itself by passing in its own handle. Previously + this could only be done by passing in NULL. + + The tick hook function is now called only within a tick isr. Previously + it was also called when the tick function was called during the scheduler + unlocking process. + +Changes from V4.0.3 + + + Extra checks have been placed in vTaskPrioritySet() to avoid unnecessary + yields. + +Changed from V4.0.4 + + + Bug fix: The 'value' of the event list item is updated when the priority + of a task is changed. Previously only the priority of the TCB itself was + changed. + + When resuming a task a check is first made to see if the task is actually + suspended. + + vTaskPrioritySet() and vTaskResume() no longer use the event list item. + This has not been necessary since V4.0.1 when the xMissedYield handling + was added. + + Implement xTaskResumeFromISR(). + +Changes from V4.0.5 + + + Added utility functions and xOverflowCount variable to facilitate the + queue.c changes. + +Changes from V4.1.2 + + + Tasks that block on events with a timeout of portMAX_DELAY are now + blocked indefinitely if configINCLUDE_vTaskSuspend is defined. + Previously portMAX_DELAY was just the longest block time possible. + +Changes from V4.1.3 + + + Very small change made to xTaskCheckForTimeout() as a result of the + SafeRTOS testing. This corrects the case where the function can return an + invalid value - but only in an extremely unlikely scenario. + +Changes since V4.3.1: + + + Added xTaskGetSchedulerState() function. + + Added prvIsTaskSuspended() to take into account the Occurrence of + vTaskResume() or vTaskResumeFromISR() being called passing in the + handle of a task that appears in the Suspended list only because it + is blocked on an event without a timeout being specified. + + Updated xTaskCheckForTimeout() to take into account that tasks blocked + using the Suspended list should never time out. +*/ + +#include +#include +#include + +#include "FreeRTOS.h" +#include "task.h" + +/* + * Macro to define the amount of stack available to the idle task. + */ +#define tskIDLE_STACK_SIZE configMINIMAL_STACK_SIZE + + +/* + * Default a definitions for backwards compatibility with old + * portmacro.h files. + */ +#ifndef configMAX_TASK_NAME_LEN + #define configMAX_TASK_NAME_LEN 16 +#endif + +#ifndef configIDLE_SHOULD_YIELD + #define configIDLE_SHOULD_YIELD 1 +#endif + +#if configMAX_TASK_NAME_LEN < 1 + #undef configMAX_TASK_NAME_LEN + #define configMAX_TASK_NAME_LEN 1 +#endif + +#ifndef INCLUDE_xTaskResumeFromISR + #define INCLUDE_xTaskResumeFromISR 1 +#endif + +#ifndef INCLUDE_xTaskGetSchedulerState + #define INCLUDE_xTaskGetSchedulerState 0 +#endif + +/* + * Task control block. A task control block (TCB) is allocated to each task, + * and stores the context of the task. + */ +typedef struct tskTaskControlBlock +{ + volatile portSTACK_TYPE *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE STRUCT. */ + xListItem xGenericListItem; /*< List item used to place the TCB in ready and blocked queues. */ + xListItem xEventListItem; /*< List item used to place the TCB in event lists. */ + unsigned portBASE_TYPE uxPriority; /*< The priority of the task where 0 is the lowest priority. */ + portSTACK_TYPE *pxStack; /*< Points to the start of the stack. */ + signed portCHAR pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ + + #if ( configUSE_TRACE_FACILITY == 1 ) + unsigned portBASE_TYPE uxTCBNumber; /*< This is used for tracing the scheduler and making debugging easier only. */ + #endif + + #if ( configUSE_MUTEXES == 1 ) + unsigned portBASE_TYPE uxBasePriority; + #endif + +} tskTCB; + +/*lint -e956 */ + +tskTCB * volatile pxCurrentTCB = NULL; + +/* Lists for ready and blocked tasks. --------------------*/ + +static xList pxReadyTasksLists[ configMAX_PRIORITIES ]; /*< Prioritised ready tasks. */ +static xList xDelayedTaskList1; /*< Delayed tasks. */ +static xList xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */ +static xList * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */ +static xList * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */ +static xList xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready queue when the scheduler is resumed. */ + +#if ( INCLUDE_vTaskDelete == 1 ) + + static volatile xList xTasksWaitingTermination; /*< Tasks that have been deleted - but the their memory not yet freed. */ + static volatile unsigned portBASE_TYPE uxTasksDeleted = ( unsigned portBASE_TYPE ) 0; + +#endif + +#if ( INCLUDE_vTaskSuspend == 1 ) + + static xList xSuspendedTaskList; /*< Tasks that are currently suspended. */ + +#endif + +/* File private variables. --------------------------------*/ +static volatile unsigned portBASE_TYPE uxCurrentNumberOfTasks = ( unsigned portBASE_TYPE ) 0; +static volatile portTickType xTickCount = ( portTickType ) 0; +static unsigned portBASE_TYPE uxTopUsedPriority = tskIDLE_PRIORITY; +static volatile unsigned portBASE_TYPE uxTopReadyPriority = tskIDLE_PRIORITY; +static volatile signed portBASE_TYPE xSchedulerRunning = pdFALSE; +static volatile unsigned portBASE_TYPE uxSchedulerSuspended = ( unsigned portBASE_TYPE ) pdFALSE; +static volatile unsigned portBASE_TYPE uxMissedTicks = ( unsigned portBASE_TYPE ) 0; +static volatile portBASE_TYPE xMissedYield = ( portBASE_TYPE ) pdFALSE; +static volatile portBASE_TYPE xNumOfOverflows = ( portBASE_TYPE ) 0; +/* Debugging and trace facilities private variables and macros. ------------*/ + +/* + * The value used to fill the stack of a task when the task is created. This + * is used purely for checking the high water mark for tasks. + */ +#define tskSTACK_FILL_BYTE ( 0xa5 ) + +/* + * Macros used by vListTask to indicate which state a task is in. + */ +#define tskBLOCKED_CHAR ( ( signed portCHAR ) 'B' ) +#define tskREADY_CHAR ( ( signed portCHAR ) 'R' ) +#define tskDELETED_CHAR ( ( signed portCHAR ) 'D' ) +#define tskSUSPENDED_CHAR ( ( signed portCHAR ) 'S' ) + +/* + * Macros and private variables used by the trace facility. + */ +#if ( configUSE_TRACE_FACILITY == 1 ) + + #define tskSIZE_OF_EACH_TRACE_LINE ( ( unsigned portLONG ) ( sizeof( unsigned portLONG ) + sizeof( unsigned portLONG ) ) ) + static volatile signed portCHAR * volatile pcTraceBuffer; + static signed portCHAR *pcTraceBufferStart; + static signed portCHAR *pcTraceBufferEnd; + static signed portBASE_TYPE xTracing = pdFALSE; + +#endif + +/* + * Macro that writes a trace of scheduler activity to a buffer. This trace + * shows which task is running when and is very useful as a debugging tool. + * As this macro is called each context switch it is a good idea to undefine + * it if not using the facility. + */ +#if ( configUSE_TRACE_FACILITY == 1 ) + + #define vWriteTraceToBuffer() \ + { \ + if( xTracing ) \ + { \ + static unsigned portBASE_TYPE uxPreviousTask = 255; \ + \ + if( uxPreviousTask != pxCurrentTCB->uxTCBNumber ) \ + { \ + if( ( pcTraceBuffer + tskSIZE_OF_EACH_TRACE_LINE ) < pcTraceBufferEnd ) \ + { \ + uxPreviousTask = pxCurrentTCB->uxTCBNumber; \ + *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) xTickCount; \ + pcTraceBuffer += sizeof( unsigned portLONG ); \ + *( unsigned portLONG * ) pcTraceBuffer = ( unsigned portLONG ) uxPreviousTask; \ + pcTraceBuffer += sizeof( unsigned portLONG ); \ + } \ + else \ + { \ + xTracing = pdFALSE; \ + } \ + } \ + } \ + } + +#else + + #define vWriteTraceToBuffer() + +#endif + + +/* + * Place the task represented by pxTCB into the appropriate ready queue for + * the task. It is inserted at the end of the list. One quirk of this is + * that if the task being inserted is at the same priority as the currently + * executing task, then it will only be rescheduled after the currently + * executing task has been rescheduled. + */ +#define prvAddTaskToReadyQueue( pxTCB ) \ +{ \ + if( pxTCB->uxPriority > uxTopReadyPriority ) \ + { \ + uxTopReadyPriority = pxTCB->uxPriority; \ + } \ + vListInsertEnd( ( xList * ) &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ); \ +} + +/* + * Macro that looks at the list of tasks that are currently delayed to see if + * any require waking. + * + * Tasks are stored in the queue in the order of their wake time - meaning + * once one tasks has been found whose timer has not expired we need not look + * any further down the list. + */ +#define prvCheckDelayedTasks() \ +{ \ +register tskTCB *pxTCB; \ + \ + while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ) ) != NULL ) \ + { \ + if( xTickCount < listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) ) ) \ + { \ + break; \ + } \ + vListRemove( &( pxTCB->xGenericListItem ) ); \ + /* Is the task waiting on an event also? */ \ + if( pxTCB->xEventListItem.pvContainer ) \ + { \ + vListRemove( &( pxTCB->xEventListItem ) ); \ + } \ + prvAddTaskToReadyQueue( pxTCB ); \ + } \ +} + +/* + * Several functions take an xTaskHandle parameter that can optionally be NULL, + * where NULL is used to indicate that the handle of the currently executing + * task should be used in place of the parameter. This macro simply checks to + * see if the parameter is NULL and returns a pointer to the appropriate TCB. + */ +#define prvGetTCBFromHandle( pxHandle ) ( ( pxHandle == NULL ) ? ( tskTCB * ) pxCurrentTCB : ( tskTCB * ) pxHandle ) + + +/* File private functions. --------------------------------*/ + +/* + * Utility to ready a TCB for a given task. Mainly just copies the parameters + * into the TCB structure. + */ +static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority ); + +/* + * Utility to ready all the lists used by the scheduler. This is called + * automatically upon the creation of the first task. + */ +static void prvInitialiseTaskLists( void ); + +/* + * The idle task, which as all tasks is implemented as a never ending loop. + * The idle task is automatically created and added to the ready lists upon + * creation of the first user task. + * + * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific + * language extensions. The equivalent prototype for this function is: + * + * void prvIdleTask( void *pvParameters ); + * + */ +static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters ); + +/* + * Utility to free all memory allocated by the scheduler to hold a TCB, + * including the stack pointed to by the TCB. + * + * This does not free memory allocated by the task itself (i.e. memory + * allocated by calls to pvPortMalloc from within the tasks application code). + */ +#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) ) + static void prvDeleteTCB( tskTCB *pxTCB ); +#endif + +/* + * Used only by the idle task. This checks to see if anything has been placed + * in the list of tasks waiting to be deleted. If so the task is cleaned up + * and its TCB deleted. + */ +static void prvCheckTasksWaitingTermination( void ); + +/* + * Allocates memory from the heap for a TCB and associated stack. Checks the + * allocation was successful. + */ +static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth ); + +/* + * Called from vTaskList. vListTasks details all the tasks currently under + * control of the scheduler. The tasks may be in one of a number of lists. + * prvListTaskWithinSingleList accepts a list and details the tasks from + * within just that list. + * + * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM + * NORMAL APPLICATION CODE. + */ +#if ( configUSE_TRACE_FACILITY == 1 ) + + static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus ); + +#endif + +/* + * When a task is created, the stack of the task is filled with a known value. + * This function determines the 'high water mark' of the task stack by + * determining how much of the stack remains at the original preset value. + */ +#if ( configUSE_TRACE_FACILITY == 1 ) + + unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte ); + +#endif + +/* + * Checks that a task being resumed (unsuspended) is actually in the Suspended + * state. + */ +#if ( INCLUDE_vTaskSuspend == 1 ) + + static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB ); + +#endif + +/*lint +e956 */ + + + + + +/*----------------------------------------------------------- + * TASK CREATION API documented in task.h + *----------------------------------------------------------*/ + +signed portBASE_TYPE xTaskCreate( pdTASK_CODE pvTaskCode, const signed portCHAR * const pcName, unsigned portSHORT usStackDepth, void *pvParameters, unsigned portBASE_TYPE uxPriority, xTaskHandle *pxCreatedTask ) +{ +signed portBASE_TYPE xReturn; +tskTCB * pxNewTCB; +#if ( configUSE_TRACE_FACILITY == 1 ) + static unsigned portBASE_TYPE uxTaskNumber = 0; /*lint !e956 Static is deliberate - this is guarded before use. */ +#endif + + /* Allocate the memory required by the TCB and stack for the new task. + checking that the allocation was successful. */ + pxNewTCB = prvAllocateTCBAndStack( usStackDepth ); + + if( pxNewTCB != NULL ) + { + portSTACK_TYPE *pxTopOfStack; + + /* Setup the newly allocated TCB with the initial state of the task. */ + prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority ); + + /* Calculate the top of stack address. This depends on whether the + stack grows from high memory to low (as per the 80x86) or visa versa. + portSTACK_GROWTH is used to make the result positive or negative as + required by the port. */ + #if portSTACK_GROWTH < 0 + { + pxTopOfStack = pxNewTCB->pxStack + ( usStackDepth - 1 ); + } + #else + { + pxTopOfStack = pxNewTCB->pxStack; + } + #endif + + /* Initialize the TCB stack to look as if the task was already running, + but had been interrupted by the scheduler. The return address is set + to the start of the task function. Once the stack has been initialised + the top of stack variable is updated. */ + pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pvTaskCode, pvParameters ); + + /* We are going to manipulate the task queues to add this task to a + ready list, so must make sure no interrupts occur. */ + portENTER_CRITICAL(); + { + uxCurrentNumberOfTasks++; + if( uxCurrentNumberOfTasks == ( unsigned portBASE_TYPE ) 1 ) + { + /* As this is the first task it must also be the current task. */ + pxCurrentTCB = pxNewTCB; + + /* This is the first task to be created so do the preliminary + initialisation required. We will not recover if this call + fails, but we will report the failure. */ + prvInitialiseTaskLists(); + } + else + { + /* If the scheduler is not already running, make this task the + current task if it is the highest priority task to be created + so far. */ + if( xSchedulerRunning == pdFALSE ) + { + if( pxCurrentTCB->uxPriority <= uxPriority ) + { + pxCurrentTCB = pxNewTCB; + } + } + } + + /* Remember the top priority to make context switching faster. Use + the priority in pxNewTCB as this has been capped to a valid value. */ + if( pxNewTCB->uxPriority > uxTopUsedPriority ) + { + uxTopUsedPriority = pxNewTCB->uxPriority; + } + + #if ( configUSE_TRACE_FACILITY == 1 ) + { + /* Add a counter into the TCB for tracing only. */ + pxNewTCB->uxTCBNumber = uxTaskNumber; + uxTaskNumber++; + } + #endif + + prvAddTaskToReadyQueue( pxNewTCB ); + + xReturn = pdPASS; + } + portEXIT_CRITICAL(); + } + else + { + xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY; + } + + if( xReturn == pdPASS ) + { + if( ( void * ) pxCreatedTask != NULL ) + { + /* Pass the TCB out - in an anonymous way. The calling function/ + task can use this as a handle to delete the task later if + required.*/ + *pxCreatedTask = ( xTaskHandle ) pxNewTCB; + } + + if( xSchedulerRunning != pdFALSE ) + { + /* If the created task is of a higher priority than the current task + then it should run now. */ + if( pxCurrentTCB->uxPriority < uxPriority ) + { + taskYIELD(); + } + } + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelete == 1 ) + + void vTaskDelete( xTaskHandle pxTaskToDelete ) + { + tskTCB *pxTCB; + + taskENTER_CRITICAL(); + { + /* Ensure a yield is performed if the current task is being + deleted. */ + if( pxTaskToDelete == pxCurrentTCB ) + { + pxTaskToDelete = NULL; + } + + /* If null is passed in here then we are deleting ourselves. */ + pxTCB = prvGetTCBFromHandle( pxTaskToDelete ); + + /* Remove task from the ready list and place in the termination list. + This will stop the task from be scheduled. The idle task will check + the termination list and free up any memory allocated by the + scheduler for the TCB and stack. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + + /* Is the task waiting on an event also? */ + if( pxTCB->xEventListItem.pvContainer ) + { + vListRemove( &( pxTCB->xEventListItem ) ); + } + + vListInsertEnd( ( xList * ) &xTasksWaitingTermination, &( pxTCB->xGenericListItem ) ); + + /* Increment the ucTasksDeleted variable so the idle task knows + there is a task that has been deleted and that it should therefore + check the xTasksWaitingTermination list. */ + ++uxTasksDeleted; + } + taskEXIT_CRITICAL(); + + /* Force a reschedule if we have just deleted the current task. */ + if( xSchedulerRunning != pdFALSE ) + { + if( ( void * ) pxTaskToDelete == NULL ) + { + taskYIELD(); + } + } + } + +#endif + + + + + + +/*----------------------------------------------------------- + * TASK CONTROL API documented in task.h + *----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelayUntil == 1 ) + + void vTaskDelayUntil( portTickType * const pxPreviousWakeTime, portTickType xTimeIncrement ) + { + portTickType xTimeToWake; + portBASE_TYPE xAlreadyYielded, xShouldDelay = pdFALSE; + + vTaskSuspendAll(); + { + /* Generate the tick time at which the task wants to wake. */ + xTimeToWake = *pxPreviousWakeTime + xTimeIncrement; + + if( xTickCount < *pxPreviousWakeTime ) + { + /* The tick count has overflowed since this function was + lasted called. In this case the only time we should ever + actually delay is if the wake time has also overflowed, + and the wake time is greater than the tick time. When this + is the case it is as if neither time had overflowed. */ + if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xTickCount ) ) + { + xShouldDelay = pdTRUE; + } + } + else + { + /* The tick time has not overflowed. In this case we will + delay if either the wake time has overflowed, and/or the + tick time is less than the wake time. */ + if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xTickCount ) ) + { + xShouldDelay = pdTRUE; + } + } + + /* Update the wake time ready for the next call. */ + *pxPreviousWakeTime = xTimeToWake; + + if( xShouldDelay ) + { + /* We must remove ourselves from the ready list before adding + ourselves to the blocked list as the same list item is used for + both lists. */ + vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + + /* The list item will be inserted in wake time order. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); + + if( xTimeToWake < xTickCount ) + { + /* Wake time has overflowed. Place this item in the + overflow list. */ + vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* The wake time has not overflowed, so we can use the + current block list. */ + vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + } + } + xAlreadyYielded = xTaskResumeAll(); + + /* Force a reschedule if xTaskResumeAll has not already done so, we may + have put ourselves to sleep. */ + if( !xAlreadyYielded ) + { + taskYIELD(); + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskDelay == 1 ) + + void vTaskDelay( portTickType xTicksToDelay ) + { + portTickType xTimeToWake; + signed portBASE_TYPE xAlreadyYielded = pdFALSE; + + /* A delay time of zero just forces a reschedule. */ + if( xTicksToDelay > ( portTickType ) 0 ) + { + vTaskSuspendAll(); + { + /* A task that is removed from the event list while the + scheduler is suspended will not get placed in the ready + list or removed from the blocked list until the scheduler + is resumed. + + This task cannot be in an event list as it is the currently + executing task. */ + + /* Calculate the time to wake - this may overflow but this is + not a problem. */ + xTimeToWake = xTickCount + xTicksToDelay; + + /* We must remove ourselves from the ready list before adding + ourselves to the blocked list as the same list item is used for + both lists. */ + vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + + /* The list item will be inserted in wake time order. */ + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); + + if( xTimeToWake < xTickCount ) + { + /* Wake time has overflowed. Place this item in the + overflow list. */ + vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* The wake time has not overflowed, so we can use the + current block list. */ + vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + } + xAlreadyYielded = xTaskResumeAll(); + } + + /* Force a reschedule if xTaskResumeAll has not already done so, we may + have put ourselves to sleep. */ + if( !xAlreadyYielded ) + { + taskYIELD(); + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_uxTaskPriorityGet == 1 ) + + unsigned portBASE_TYPE uxTaskPriorityGet( xTaskHandle pxTask ) + { + tskTCB *pxTCB; + unsigned portBASE_TYPE uxReturn; + + taskENTER_CRITICAL(); + { + /* If null is passed in here then we are changing the + priority of the calling function. */ + pxTCB = prvGetTCBFromHandle( pxTask ); + uxReturn = pxTCB->uxPriority; + } + taskEXIT_CRITICAL(); + + return uxReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskPrioritySet == 1 ) + + void vTaskPrioritySet( xTaskHandle pxTask, unsigned portBASE_TYPE uxNewPriority ) + { + tskTCB *pxTCB; + unsigned portBASE_TYPE uxCurrentPriority, xYieldRequired = pdFALSE; + + /* Ensure the new priority is valid. */ + if( uxNewPriority >= configMAX_PRIORITIES ) + { + uxNewPriority = configMAX_PRIORITIES - 1; + } + + taskENTER_CRITICAL(); + { + /* If null is passed in here then we are changing the + priority of the calling function. */ + pxTCB = prvGetTCBFromHandle( pxTask ); + + #if ( configUSE_MUTEXES == 1 ) + { + uxCurrentPriority = pxTCB->uxBasePriority; + } + #else + { + uxCurrentPriority = pxTCB->uxPriority; + } + #endif + + if( uxCurrentPriority != uxNewPriority ) + { + /* The priority change may have readied a task of higher + priority than the calling task. */ + if( uxNewPriority > uxCurrentPriority ) + { + if( pxTask != NULL ) + { + /* The priority of another task is being raised. If we + were raising the priority of the currently running task + there would be no need to switch as it must have already + been the highest priority task. */ + xYieldRequired = pdTRUE; + } + } + else if( pxTask == NULL ) + { + /* Setting our own priority down means there may now be another + task of higher priority that is ready to execute. */ + xYieldRequired = pdTRUE; + } + + + + #if ( configUSE_MUTEXES == 1 ) + { + /* Only change the priority being used if the task is not + currently using an inherited priority. */ + if( pxTCB->uxBasePriority == pxTCB->uxPriority ) + { + pxTCB->uxPriority = uxNewPriority; + } + + /* The base priority gets set whatever. */ + pxTCB->uxBasePriority = uxNewPriority; + } + #else + { + pxTCB->uxPriority = uxNewPriority; + } + #endif + + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( configMAX_PRIORITIES - ( portTickType ) uxNewPriority ) ); + + /* If the task is in the blocked or suspended list we need do + nothing more than change it's priority variable. However, if + the task is in a ready list it needs to be removed and placed + in the queue appropriate to its new priority. */ + if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxCurrentPriority ] ), &( pxTCB->xGenericListItem ) ) ) + { + /* The task is currently in its ready list - remove before adding + it to it's new ready list. As we are in a critical section we + can do this even if the scheduler is suspended. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxTCB ); + } + + if( xYieldRequired == pdTRUE ) + { + taskYIELD(); + } + } + } + taskEXIT_CRITICAL(); + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + + void vTaskSuspend( xTaskHandle pxTaskToSuspend ) + { + tskTCB *pxTCB; + + taskENTER_CRITICAL(); + { + /* Ensure a yield is performed if the current task is being + suspended. */ + if( pxTaskToSuspend == pxCurrentTCB ) + { + pxTaskToSuspend = NULL; + } + + /* If null is passed in here then we are suspending ourselves. */ + pxTCB = prvGetTCBFromHandle( pxTaskToSuspend ); + + /* Remove task from the ready/delayed list and place in the suspended list. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + + /* Is the task waiting on an event also? */ + if( pxTCB->xEventListItem.pvContainer ) + { + vListRemove( &( pxTCB->xEventListItem ) ); + } + + vListInsertEnd( ( xList * ) &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ); + } + taskEXIT_CRITICAL(); + + /* We may have just suspended the current task. */ + if( ( void * ) pxTaskToSuspend == NULL ) + { + taskYIELD(); + } + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + + static portBASE_TYPE prvIsTaskSuspended( const tskTCB * const pxTCB ) + { + portBASE_TYPE xReturn = pdFALSE; + + /* Is the task we are attempting to resume actually in the + suspended list? */ + if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xGenericListItem ) ) != pdFALSE ) + { + /* Has the task already been resumed from within an ISR? */ + if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) != pdTRUE ) + { + /* Is it in the suspended list because it is in the + Suspended state? It is possible to be in the suspended + list because it is blocked on a task with no timeout + specified. */ + if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) == pdTRUE ) + { + xReturn = pdTRUE; + } + } + } + + return xReturn; + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_vTaskSuspend == 1 ) + + void vTaskResume( xTaskHandle pxTaskToResume ) + { + tskTCB *pxTCB; + + /* Remove the task from whichever list it is currently in, and place + it in the ready list. */ + pxTCB = ( tskTCB * ) pxTaskToResume; + + /* The parameter cannot be NULL as it is impossible to resume the + currently executing task. */ + if( pxTCB != NULL ) + { + taskENTER_CRITICAL(); + { + if( prvIsTaskSuspended( pxTCB ) == pdTRUE ) + { + /* As we are in a critical section we can access the ready + lists even if the scheduler is suspended. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxTCB ); + + /* We may have just resumed a higher priority task. */ + if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + /* This yield may not cause the task just resumed to run, but + will leave the lists in the correct state for the next yield. */ + taskYIELD(); + } + } + } + taskEXIT_CRITICAL(); + } + } + +#endif + +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) + + portBASE_TYPE xTaskResumeFromISR( xTaskHandle pxTaskToResume ) + { + portBASE_TYPE xYieldRequired = pdFALSE; + tskTCB *pxTCB; + + pxTCB = ( tskTCB * ) pxTaskToResume; + + if( prvIsTaskSuspended( pxTCB ) == pdTRUE ) + { + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + xYieldRequired = ( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ); + vListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxTCB ); + } + else + { + /* We cannot access the delayed or ready lists, so will hold this + task pending until the scheduler is resumed, at which point a + yield will be performed if necessary. */ + vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxTCB->xEventListItem ) ); + } + } + + return xYieldRequired; + } + +#endif + + + + +/*----------------------------------------------------------- + * PUBLIC SCHEDULER CONTROL documented in task.h + *----------------------------------------------------------*/ + + +void vTaskStartScheduler( void ) +{ +portBASE_TYPE xReturn; + + /* Add the idle task at the lowest priority. */ + xReturn = xTaskCreate( prvIdleTask, ( signed portCHAR * ) "IDLE", tskIDLE_STACK_SIZE, ( void * ) NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL ); + + if( xReturn == pdPASS ) + { + /* Interrupts are turned off here, to ensure a tick does not occur + before or during the call to xPortStartScheduler(). The stacks of + the created tasks contain a status word with interrupts switched on + so interrupts will automatically get re-enabled when the first task + starts to run. + + STEPPING THROUGH HERE USING A DEBUGGER CAN CAUSE BIG PROBLEMS IF THE + DEBUGGER ALLOWS INTERRUPTS TO BE PROCESSED. */ + portDISABLE_INTERRUPTS(); + + xSchedulerRunning = pdTRUE; + xTickCount = ( portTickType ) 0; + + /* Setting up the timer tick is hardware specific and thus in the + portable interface. */ + if( xPortStartScheduler() ) + { + /* Should not reach here as if the scheduler is running the + function will not return. */ + } + else + { + /* Should only reach here if a task calls xTaskEndScheduler(). */ + } + } +} +/*-----------------------------------------------------------*/ + +void vTaskEndScheduler( void ) +{ + /* Stop the scheduler interrupts and call the portable scheduler end + routine so the original ISRs can be restored if necessary. The port + layer must ensure interrupts enable bit is left in the correct state. */ + portDISABLE_INTERRUPTS(); + xSchedulerRunning = pdFALSE; + vPortEndScheduler(); +} +/*----------------------------------------------------------*/ + +void vTaskSuspendAll( void ) +{ + portENTER_CRITICAL(); + ++uxSchedulerSuspended; + portEXIT_CRITICAL(); +} +/*----------------------------------------------------------*/ + +signed portBASE_TYPE xTaskResumeAll( void ) +{ +register tskTCB *pxTCB; +signed portBASE_TYPE xAlreadyYielded = pdFALSE; + + /* It is possible that an ISR caused a task to be removed from an event + list while the scheduler was suspended. If this was the case then the + removed task will have been added to the xPendingReadyList. Once the + scheduler has been resumed it is safe to move all the pending ready + tasks from this list into their appropriate ready list. */ + portENTER_CRITICAL(); + { + --uxSchedulerSuspended; + + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + if( uxCurrentNumberOfTasks > ( unsigned portBASE_TYPE ) 0 ) + { + portBASE_TYPE xYieldRequired = pdFALSE; + + /* Move any readied tasks from the pending list into the + appropriate ready list. */ + while( ( pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xPendingReadyList ) ) ) != NULL ) + { + vListRemove( &( pxTCB->xEventListItem ) ); + vListRemove( &( pxTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxTCB ); + + /* If we have moved a task that has a priority higher than + the current task then we should yield. */ + if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + xYieldRequired = pdTRUE; + } + } + + /* If any ticks occurred while the scheduler was suspended then + they should be processed now. This ensures the tick count does not + slip, and that any delayed tasks are resumed at the correct time. */ + if( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 ) + { + while( uxMissedTicks > ( unsigned portBASE_TYPE ) 0 ) + { + vTaskIncrementTick(); + --uxMissedTicks; + } + + /* As we have processed some ticks it is appropriate to yield + to ensure the highest priority task that is ready to run is + the task actually running. */ + #if configUSE_PREEMPTION == 1 + { + xYieldRequired = pdTRUE; + } + #endif + } + + if( ( xYieldRequired == pdTRUE ) || ( xMissedYield == pdTRUE ) ) + { + xAlreadyYielded = pdTRUE; + xMissedYield = pdFALSE; + taskYIELD(); + } + } + } + } + portEXIT_CRITICAL(); + + return xAlreadyYielded; +} + + + + + + +/*----------------------------------------------------------- + * PUBLIC TASK UTILITIES documented in task.h + *----------------------------------------------------------*/ + + + +portTickType xTaskGetTickCount( void ) +{ +portTickType xTicks; + + /* Critical section required if running on a 16 bit processor. */ + taskENTER_CRITICAL(); + { + xTicks = xTickCount; + } + taskEXIT_CRITICAL(); + + return xTicks; +} +/*-----------------------------------------------------------*/ + +unsigned portBASE_TYPE uxTaskGetNumberOfTasks( void ) +{ +unsigned portBASE_TYPE uxNumberOfTasks; + + taskENTER_CRITICAL(); + uxNumberOfTasks = uxCurrentNumberOfTasks; + taskEXIT_CRITICAL(); + + return uxNumberOfTasks; +} +/*-----------------------------------------------------------*/ + +#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_vTaskDelete == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) + + void vTaskList( signed portCHAR *pcWriteBuffer ) + { + unsigned portBASE_TYPE uxQueue; + + /* This is a VERY costly function that should be used for debug only. + It leaves interrupts disabled for a LONG time. */ + + vTaskSuspendAll(); + { + /* Run through all the lists that could potentially contain a TCB and + report the task name, state and stack high water mark. */ + + pcWriteBuffer[ 0 ] = ( signed portCHAR ) 0x00; + strcat( ( portCHAR * ) pcWriteBuffer, ( const portCHAR * ) "\r\n" ); + + uxQueue = uxTopUsedPriority + 1; + + do + { + uxQueue--; + + if( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxQueue ] ) ) ) + { + prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &( pxReadyTasksLists[ uxQueue ] ), tskREADY_CHAR ); + } + }while( uxQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY ); + + if( !listLIST_IS_EMPTY( pxDelayedTaskList ) ) + { + prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxDelayedTaskList, tskBLOCKED_CHAR ); + } + + if( !listLIST_IS_EMPTY( pxOverflowDelayedTaskList ) ) + { + prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) pxOverflowDelayedTaskList, tskBLOCKED_CHAR ); + } + + if( !listLIST_IS_EMPTY( &xTasksWaitingTermination ) ) + { + prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xTasksWaitingTermination, tskDELETED_CHAR ); + } + + if( !listLIST_IS_EMPTY( &xSuspendedTaskList ) ) + { + prvListTaskWithinSingleList( pcWriteBuffer, ( xList * ) &xSuspendedTaskList, tskSUSPENDED_CHAR ); + } + } + xTaskResumeAll(); + } + +#endif +/*----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + void vTaskStartTrace( signed portCHAR * pcBuffer, unsigned portLONG ulBufferSize ) + { + portENTER_CRITICAL(); + { + pcTraceBuffer = ( signed portCHAR * )pcBuffer; + pcTraceBufferStart = pcBuffer; + pcTraceBufferEnd = pcBuffer + ( ulBufferSize - tskSIZE_OF_EACH_TRACE_LINE ); + xTracing = pdTRUE; + } + portEXIT_CRITICAL(); + } + +#endif +/*----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + unsigned portLONG ulTaskEndTrace( void ) + { + unsigned portLONG ulBufferLength; + + portENTER_CRITICAL(); + xTracing = pdFALSE; + portEXIT_CRITICAL(); + + ulBufferLength = ( unsigned portLONG ) ( pcTraceBuffer - pcTraceBufferStart ); + + return ulBufferLength; + } + +#endif + + + +/*----------------------------------------------------------- + * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES + * documented in task.h + *----------------------------------------------------------*/ + + +inline void vTaskIncrementTick( void ) +{ + /* Called by the portable layer each time a tick interrupt occurs. + Increments the tick then checks to see if the new tick value will cause any + tasks to be unblocked. */ + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + ++xTickCount; + if( xTickCount == ( portTickType ) 0 ) + { + xList *pxTemp; + + /* Tick count has overflowed so we need to swap the delay lists. + If there are any items in pxDelayedTaskList here then there is + an error! */ + pxTemp = pxDelayedTaskList; + pxDelayedTaskList = pxOverflowDelayedTaskList; + pxOverflowDelayedTaskList = pxTemp; + xNumOfOverflows++; + } + + /* See if this tick has made a timeout expire. */ + prvCheckDelayedTasks(); + } + else + { + ++uxMissedTicks; + + /* The tick hook gets called at regular intervals, even if the + scheduler is locked. */ + #if ( configUSE_TICK_HOOK == 1 ) + { + extern void vApplicationTickHook( void ); + + vApplicationTickHook(); + } + #endif + } + + #if ( configUSE_TICK_HOOK == 1 ) + { + extern void vApplicationTickHook( void ); + + /* Guard against the tick hook being called when the missed tick + count is being unwound (when the scheduler is being unlocked. */ + if( uxMissedTicks == 0 ) + { + vApplicationTickHook(); + } + } + #endif +} +/*-----------------------------------------------------------*/ + +#if ( ( INCLUDE_vTaskCleanUpResources == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) + + void vTaskCleanUpResources( void ) + { + unsigned portSHORT usQueue; + volatile tskTCB *pxTCB; + + usQueue = ( unsigned portSHORT ) uxTopUsedPriority + ( unsigned portSHORT ) 1; + + /* Remove any TCB's from the ready queues. */ + do + { + usQueue--; + + while( !listLIST_IS_EMPTY( &( pxReadyTasksLists[ usQueue ] ) ) ) + { + listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &( pxReadyTasksLists[ usQueue ] ) ); + vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ); + + prvDeleteTCB( ( tskTCB * ) pxTCB ); + } + }while( usQueue > ( unsigned portSHORT ) tskIDLE_PRIORITY ); + + /* Remove any TCB's from the delayed queue. */ + while( !listLIST_IS_EMPTY( &xDelayedTaskList1 ) ) + { + listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList1 ); + vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ); + + prvDeleteTCB( ( tskTCB * ) pxTCB ); + } + + /* Remove any TCB's from the overflow delayed queue. */ + while( !listLIST_IS_EMPTY( &xDelayedTaskList2 ) ) + { + listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xDelayedTaskList2 ); + vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ); + + prvDeleteTCB( ( tskTCB * ) pxTCB ); + } + + while( !listLIST_IS_EMPTY( &xSuspendedTaskList ) ) + { + listGET_OWNER_OF_NEXT_ENTRY( pxTCB, &xSuspendedTaskList ); + vListRemove( ( xListItem * ) &( pxTCB->xGenericListItem ) ); + + prvDeleteTCB( ( tskTCB * ) pxTCB ); + } + } + +#endif +/*-----------------------------------------------------------*/ + +void vTaskSwitchContext( void ) +{ + if( uxSchedulerSuspended != ( unsigned portBASE_TYPE ) pdFALSE ) + { + /* The scheduler is currently suspended - do not allow a context + switch. */ + xMissedYield = pdTRUE; + return; + } + + /* Find the highest priority queue that contains ready tasks. */ + while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) + { + --uxTopReadyPriority; + } + + /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the tasks of the + same priority get an equal share of the processor time. */ + listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); + vWriteTraceToBuffer(); +} +/*-----------------------------------------------------------*/ + +void vTaskPlaceOnEventList( const xList * const pxEventList, portTickType xTicksToWait ) +{ +portTickType xTimeToWake; + + /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE + SCHEDULER SUSPENDED. */ + + /* Place the event list item of the TCB in the appropriate event list. + This is placed in the list in priority order so the highest priority task + is the first to be woken by the event. */ + vListInsert( ( xList * ) pxEventList, ( xListItem * ) &( pxCurrentTCB->xEventListItem ) ); + + /* We must remove ourselves from the ready list before adding ourselves + to the blocked list as the same list item is used for both lists. We have + exclusive access to the ready lists as the scheduler is locked. */ + vListRemove( ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + if( xTicksToWait == portMAX_DELAY ) + { + /* Add ourselves to the suspended task list instead of a delayed task + list to ensure we are not woken by a timing event. We will block + indefinitely. */ + vListInsertEnd( ( xList * ) &xSuspendedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* Calculate the time at which the task should be woken if the event does + not occur. This may overflow but this doesn't matter. */ + xTimeToWake = xTickCount + xTicksToWait; + + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); + + if( xTimeToWake < xTickCount ) + { + /* Wake time has overflowed. Place this item in the overflow list. */ + vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* The wake time has not overflowed, so we can use the current block list. */ + vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + } + } + #else + { + /* Calculate the time at which the task should be woken if the event does + not occur. This may overflow but this doesn't matter. */ + xTimeToWake = xTickCount + xTicksToWait; + + listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xGenericListItem ), xTimeToWake ); + + if( xTimeToWake < xTickCount ) + { + /* Wake time has overflowed. Place this item in the overflow list. */ + vListInsert( ( xList * ) pxOverflowDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + else + { + /* The wake time has not overflowed, so we can use the current block list. */ + vListInsert( ( xList * ) pxDelayedTaskList, ( xListItem * ) &( pxCurrentTCB->xGenericListItem ) ); + } + } + #endif +} +/*-----------------------------------------------------------*/ + +signed portBASE_TYPE xTaskRemoveFromEventList( const xList * const pxEventList ) +{ +tskTCB *pxUnblockedTCB; +portBASE_TYPE xReturn; + + /* THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED OR THE + SCHEDULER SUSPENDED. It can also be called from within an ISR. */ + + /* The event list is sorted in priority order, so we can remove the + first in the list, remove the TCB from the delayed list, and add + it to the ready list. + + If an event is for a queue that is locked then this function will never + get called - the lock count on the queue will get modified instead. This + means we can always expect exclusive access to the event list here. */ + pxUnblockedTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); + vListRemove( &( pxUnblockedTCB->xEventListItem ) ); + + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + vListRemove( &( pxUnblockedTCB->xGenericListItem ) ); + prvAddTaskToReadyQueue( pxUnblockedTCB ); + } + else + { + /* We cannot access the delayed or ready lists, so will hold this + task pending until the scheduler is resumed. */ + vListInsertEnd( ( xList * ) &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) ); + } + + if( pxUnblockedTCB->uxPriority >= pxCurrentTCB->uxPriority ) + { + /* Return true if the task removed from the event list has + a higher priority than the calling task. This allows + the calling task to know if it should force a context + switch now. */ + xReturn = pdTRUE; + } + else + { + xReturn = pdFALSE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +void vTaskSetTimeOutState( xTimeOutType * const pxTimeOut ) +{ + pxTimeOut->xOverflowCount = xNumOfOverflows; + pxTimeOut->xTimeOnEntering = xTickCount; +} +/*-----------------------------------------------------------*/ + +portBASE_TYPE xTaskCheckForTimeOut( xTimeOutType * const pxTimeOut, portTickType * const pxTicksToWait ) +{ +portBASE_TYPE xReturn; + + #if ( INCLUDE_vTaskSuspend == 1 ) + /* If INCLUDE_vTaskSuspend is set to 1 and the block time specified is + the maximum block time then the task should block indefinitely, and + therefore never time out. */ + if( *pxTicksToWait == portMAX_DELAY ) + { + xReturn = pdFALSE; + } + else /* We are not blocking indefinitely, perform the checks below. */ + #endif + + if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xTickCount >= pxTimeOut->xTimeOnEntering ) ) + { + /* The tick count is greater than the time at which vTaskSetTimeout() + was called, but has also overflowed since vTaskSetTimeOut() was called. + It must have wrapped all the way around and gone past us again. This + passed since vTaskSetTimeout() was called. */ + xReturn = pdTRUE; + } + else if( ( xTickCount - pxTimeOut->xTimeOnEntering ) < *pxTicksToWait ) + { + /* Not a genuine timeout. Adjust parameters for time remaining. */ + *pxTicksToWait -= ( xTickCount - pxTimeOut->xTimeOnEntering ); + vTaskSetTimeOutState( pxTimeOut ); + xReturn = pdFALSE; + } + else + { + xReturn = pdTRUE; + } + + return xReturn; +} +/*-----------------------------------------------------------*/ + +void vTaskMissedYield( void ) +{ + xMissedYield = pdTRUE; +} + +/* + * ----------------------------------------------------------- + * The Idle task. + * ---------------------------------------------------------- + * + * The portTASK_FUNCTION() macro is used to allow port/compiler specific + * language extensions. The equivalent prototype for this function is: + * + * void prvIdleTask( void *pvParameters ); + * + */ +static portTASK_FUNCTION( prvIdleTask, pvParameters ) +{ + /* Stop warnings. */ + ( void ) pvParameters; + + for( ;; ) + { + /* See if any tasks have been deleted. */ + prvCheckTasksWaitingTermination(); + + #if ( configUSE_PREEMPTION == 0 ) + { + /* If we are not using preemption we keep forcing a task switch to + see if any other task has become available. If we are using + preemption we don't need to do this as any task becoming available + will automatically get the processor anyway. */ + taskYIELD(); + } + #endif + + #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) + { + /* When using preemption tasks of equal priority will be + timesliced. If a task that is sharing the idle priority is ready + to run then the idle task should yield before the end of the + timeslice. + + A critical region is not required here as we are just reading from + the list, and an occasional incorrect value will not matter. If + the ready list at the idle priority contains more than one task + then a task other than the idle task is ready to execute. */ + if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( unsigned portBASE_TYPE ) 1 ) + { + taskYIELD(); + } + } + #endif + + #if ( configUSE_IDLE_HOOK == 1 ) + { + extern void vApplicationIdleHook( void ); + + /* Call the user defined function from within the idle task. This + allows the application designer to add background functionality + without the overhead of a separate task. + NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES, + CALL A FUNCTION THAT MIGHT BLOCK. */ + vApplicationIdleHook(); + } + #endif + } +} /*lint !e715 pvParameters is not accessed but all task functions require the same prototype. */ + + + + + + + +/*----------------------------------------------------------- + * File private functions documented at the top of the file. + *----------------------------------------------------------*/ + + + +static void prvInitialiseTCBVariables( tskTCB *pxTCB, const signed portCHAR * const pcName, unsigned portBASE_TYPE uxPriority ) +{ + /* Store the function name in the TCB. */ + strncpy( ( char * ) pxTCB->pcTaskName, ( const char * ) pcName, ( unsigned portSHORT ) configMAX_TASK_NAME_LEN ); + pxTCB->pcTaskName[ ( unsigned portSHORT ) configMAX_TASK_NAME_LEN - ( unsigned portSHORT ) 1 ] = '\0'; + + /* This is used as an array index so must ensure it's not too large. */ + if( uxPriority >= configMAX_PRIORITIES ) + { + uxPriority = configMAX_PRIORITIES - 1; + } + + pxTCB->uxPriority = uxPriority; + #if ( configUSE_MUTEXES == 1 ) + { + pxTCB->uxBasePriority = uxPriority; + } + #endif + + vListInitialiseItem( &( pxTCB->xGenericListItem ) ); + vListInitialiseItem( &( pxTCB->xEventListItem ) ); + + /* Set the pxTCB as a link back from the xListItem. This is so we can get + back to the containing TCB from a generic item in a list. */ + listSET_LIST_ITEM_OWNER( &( pxTCB->xGenericListItem ), pxTCB ); + + /* Event lists are always in priority order. */ + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) uxPriority ); + listSET_LIST_ITEM_OWNER( &( pxTCB->xEventListItem ), pxTCB ); +} +/*-----------------------------------------------------------*/ + +static void prvInitialiseTaskLists( void ) +{ +unsigned portBASE_TYPE uxPriority; + + for( uxPriority = 0; uxPriority < configMAX_PRIORITIES; uxPriority++ ) + { + vListInitialise( ( xList * ) &( pxReadyTasksLists[ uxPriority ] ) ); + } + + vListInitialise( ( xList * ) &xDelayedTaskList1 ); + vListInitialise( ( xList * ) &xDelayedTaskList2 ); + vListInitialise( ( xList * ) &xPendingReadyList ); + + #if ( INCLUDE_vTaskDelete == 1 ) + { + vListInitialise( ( xList * ) &xTasksWaitingTermination ); + } + #endif + + #if ( INCLUDE_vTaskSuspend == 1 ) + { + vListInitialise( ( xList * ) &xSuspendedTaskList ); + } + #endif + + /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList + using list2. */ + pxDelayedTaskList = &xDelayedTaskList1; + pxOverflowDelayedTaskList = &xDelayedTaskList2; +} +/*-----------------------------------------------------------*/ + +static void prvCheckTasksWaitingTermination( void ) +{ + #if ( INCLUDE_vTaskDelete == 1 ) + { + portBASE_TYPE xListIsEmpty; + + /* ucTasksDeleted is used to prevent vTaskSuspendAll() being called + too often in the idle task. */ + if( uxTasksDeleted > ( unsigned portBASE_TYPE ) 0 ) + { + vTaskSuspendAll(); + xListIsEmpty = listLIST_IS_EMPTY( &xTasksWaitingTermination ); + xTaskResumeAll(); + + if( !xListIsEmpty ) + { + tskTCB *pxTCB; + + portENTER_CRITICAL(); + { + pxTCB = ( tskTCB * ) listGET_OWNER_OF_HEAD_ENTRY( ( ( xList * ) &xTasksWaitingTermination ) ); + vListRemove( &( pxTCB->xGenericListItem ) ); + --uxCurrentNumberOfTasks; + --uxTasksDeleted; + } + portEXIT_CRITICAL(); + + prvDeleteTCB( pxTCB ); + } + } + } + #endif +} +/*-----------------------------------------------------------*/ + +static tskTCB *prvAllocateTCBAndStack( unsigned portSHORT usStackDepth ) +{ +tskTCB *pxNewTCB; + + /* Allocate space for the TCB. Where the memory comes from depends on + the implementation of the port malloc function. */ + pxNewTCB = ( tskTCB * ) pvPortMalloc( sizeof( tskTCB ) ); + + if( pxNewTCB != NULL ) + { + /* Allocate space for the stack used by the task being created. + The base of the stack memory stored in the TCB so the task can + be deleted later if required. */ + pxNewTCB->pxStack = ( portSTACK_TYPE * ) pvPortMalloc( ( ( size_t )usStackDepth ) * sizeof( portSTACK_TYPE ) ); + + if( pxNewTCB->pxStack == NULL ) + { + /* Could not allocate the stack. Delete the allocated TCB. */ + vPortFree( pxNewTCB ); + pxNewTCB = NULL; + } + else + { + /* Just to help debugging. */ + memset( pxNewTCB->pxStack, tskSTACK_FILL_BYTE, usStackDepth * sizeof( portSTACK_TYPE ) ); + } + } + + return pxNewTCB; +} +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + + static void prvListTaskWithinSingleList( const signed portCHAR *pcWriteBuffer, xList *pxList, signed portCHAR cStatus ) + { + volatile tskTCB *pxNextTCB, *pxFirstTCB; + static portCHAR pcStatusString[ 50 ]; + unsigned portSHORT usStackRemaining; + + /* Write the details of all the TCB's in pxList into the buffer. */ + listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); + do + { + listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); + usStackRemaining = usTaskCheckFreeStackSpace( ( unsigned portCHAR * ) pxNextTCB->pxStack ); + sprintf( pcStatusString, ( portCHAR * ) "%s\t\t%c\t%u\t%u\t%u\r\n", pxNextTCB->pcTaskName, cStatus, ( unsigned int ) pxNextTCB->uxPriority, usStackRemaining, ( unsigned int ) pxNextTCB->uxTCBNumber ); + strcat( ( portCHAR * ) pcWriteBuffer, ( portCHAR * ) pcStatusString ); + + } while( pxNextTCB != pxFirstTCB ); + } + +#endif +/*-----------------------------------------------------------*/ + +#if ( configUSE_TRACE_FACILITY == 1 ) + unsigned portSHORT usTaskCheckFreeStackSpace( const unsigned portCHAR * pucStackByte ) + { + register unsigned portSHORT usCount = 0; + + while( *pucStackByte == tskSTACK_FILL_BYTE ) + { + pucStackByte -= portSTACK_GROWTH; + usCount++; + } + + usCount /= sizeof( portSTACK_TYPE ); + + return usCount; + } +#endif +/*-----------------------------------------------------------*/ + + + +#if ( ( INCLUDE_vTaskDelete == 1 ) || ( INCLUDE_vTaskCleanUpResources == 1 ) ) + + static void prvDeleteTCB( tskTCB *pxTCB ) + { + /* Free up the memory allocated by the scheduler for the task. It is up to + the task to free any memory allocated at the application level. */ + vPortFree( pxTCB->pxStack ); + vPortFree( pxTCB ); + } + +#endif + + +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) + + xTaskHandle xTaskGetCurrentTaskHandle( void ) + { + xTaskHandle xReturn; + + portENTER_CRITICAL(); + { + xReturn = ( xTaskHandle ) pxCurrentTCB; + } + portEXIT_CRITICAL(); + + return xReturn; + } + +#endif + +/*-----------------------------------------------------------*/ + +#if ( INCLUDE_xTaskGetSchedulerState == 1 ) + + portBASE_TYPE xTaskGetSchedulerState( void ) + { + portBASE_TYPE xReturn; + + if( xSchedulerRunning == pdFALSE ) + { + xReturn = taskSCHEDULER_NOT_STARTED; + } + else + { + if( uxSchedulerSuspended == ( unsigned portBASE_TYPE ) pdFALSE ) + { + xReturn = taskSCHEDULER_RUNNING; + } + else + { + xReturn = taskSCHEDULER_SUSPENDED; + } + } + + return xReturn; + } + +#endif + +#if ( configUSE_MUTEXES == 1 ) + + void vTaskPriorityInherit( xTaskHandle * const pxMutexHolder ) + { + tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder; + + if( pxTCB->uxPriority < pxCurrentTCB->uxPriority ) + { + /* Adjust the mutex holder state to account for its new priority. */ + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxCurrentTCB->uxPriority ); + + /* If the task being modified is in the ready state it will need to + be moved in to a new list. */ + if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxTCB->uxPriority ] ), &( pxTCB->xGenericListItem ) ) ) + { + vListRemove( &( pxTCB->xGenericListItem ) ); + + /* Inherit the priority before being moved into the new list. */ + pxTCB->uxPriority = pxCurrentTCB->uxPriority; + prvAddTaskToReadyQueue( pxTCB ); + } + else + { + /* Just inherit the priority. */ + pxTCB->uxPriority = pxCurrentTCB->uxPriority; + } + } + } + +#endif + +#if ( configUSE_MUTEXES == 1 ) + + void vTaskPriorityDisinherit( xTaskHandle * const pxMutexHolder ) + { + tskTCB * const pxTCB = ( tskTCB * ) pxMutexHolder; + + if( pxMutexHolder != NULL ) + { + if( pxTCB->uxPriority != pxTCB->uxBasePriority ) + { + /* We must be the running task to be able to give the mutex back. + Remove ourselves from the ready list we currently appear in. */ + vListRemove( &( pxTCB->xGenericListItem ) ); + + /* Disinherit the priority before adding ourselves into the new + ready list. */ + pxTCB->uxPriority = pxTCB->uxBasePriority; + listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), configMAX_PRIORITIES - ( portTickType ) pxTCB->uxPriority ); + prvAddTaskToReadyQueue( pxTCB ); + } + } + } + +#endif + + + + + diff --git a/INSTALL b/INSTALL index 6837ea9..2bd9f16 100644 --- a/INSTALL +++ b/INSTALL @@ -1,4 +1,16 @@ +Instalar toolchain: + +: descompactar como +root, entrar no diretorio e digitar make + +: descompactar como +root em /usr/src/FreeRTOSV7.4.2 e criar um link FreeRTOS -> +FreeRTOSV7.4.2/FreeRTOS + +Em geral tudo deve ser feito logado como usuario normal. Apenas os dois +pacotes acima devem ser instalados como root. + Instalar o software da AIC: : descompactar no -diretorio do usuario: +diretorio do usuario. diff --git a/IODaemon/IODaemon.java b/IODaemon/IODaemon.java deleted file mode 100644 index b10d0d8..0000000 --- a/IODaemon/IODaemon.java +++ /dev/null @@ -1,230 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - IO Daemon - Copyright (C) 2003, 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import br.ufrgs.ece.AIC.*; -import com.dalsemi.comm.*; -import com.dalsemi.system.*; -import java.io.*; -import java.lang.*; - -class IODaemon extends Thread -{ - static final int BASE=0x800000; - static final int ST=250; - - static AIC aic; - static Host host; - static boolean debug=false; - static boolean udp=false; - static boolean help=false; - - public static void main(String[] args) throws IOException,CanBusException - { - int i; - int hostarg=0; - - System.out.println("AIC IO Daemon"); - System.out.println("Copyright (C) 2003 Walter Fetter Lages .\n"); - - switch(args.length) - { - case 0: - { - help=true; - break; - } - case 1: - { - if(args[0].equals("-debug") || - args[0].equals("-UDP")) help=true; - break; - } - case 2: - { - hostarg=1; - if(args[0].equals("-debug")) debug=true; - else help=true; - break; - } - case 3: - { - hostarg=1; - if(args[0].equals("-UDP")) udp=true; - else help=true; - break; - } - case 4: - { - hostarg=2; - if(args[0].equals("-debug")) debug=true; - else help=true; - if(args[1].equals("-UDP")) udp=true; - else help=true; - break; - } - default: - { - help=true; - } - } - - - if(help) - { - System.out.println("Usage:\tjava IODaemon.tini [-debug] aic_id"); - System.out.println("\tor"); - System.out.println("\tjava IODaemon.tini [-debug] -UDP controller_host status_port"); - System.exit(1); - } - try - { - aic=new AIC(BASE,24.0,20e3,2000); - if(udp) host=new HostUDP(args[hostarg],Integer.parseInt(args[hostarg+1])); - else host=new HostCAN(Integer.parseInt(args[hostarg])); - SendSensors sendSensors=new SendSensors(); - sendSensors.setPriority(Thread.MAX_PRIORITY); - sendSensors.start(); - - if(debug) System.out.println("sendSensors priority="+sendSensors.getPriority()); - - GetCommand getCommand=new GetCommand(); - getCommand.setPriority(Thread.MAX_PRIORITY-1); - getCommand.start(); - - if(debug) System.out.println("getCommand priority="+getCommand.getPriority()); - } - catch (NumberFormatException nfe) - { - System.out.println("Usage: java IODaemon.tini [-debug] [-UDP controller_host port] | aicid"); - System.exit(1); - } - } -} - - -class GetCommand extends IODaemon -{ - public void run() - { - try - { - aic.on(); - aic.brake.release(); - - for(int k=0;;k++) - { - if(debug) System.out.print("k="+k+"\t"); - - int cmd=host.command(); - - if(debug) System.out.print("Command="+ cmd +"\t"); - - switch(cmd) - { - case Host.MOTOR_ON: - { - if(debug) System.out.print("Motor on\t"); - aic.motor.on(); - break; - } - case Host.MOTOR_OFF: - { - if(debug) System.out.print("Motor off\t"); - aic.motor.off(); - break; - } - case Host.MOTOR_ACT: - { - if(debug) System.out.print("Voltage="+host.voltage()+"\t"); - aic.motor.set(host.voltage()); - break; - } - case Host.BRAKE_RELEASE: - { - if(debug) System.out.print("Brake release\t"); - aic.brake.release(); - break; - } - case Host.BRAKE_APPLY: - { - if(debug) System.out.print("Brake apply\t"); - aic.brake.apply(); - break; - } -/* case Host.RESET: - { - if(debug) System.out.print("Reset\t"); - aic.reset(); - break; - } -*/ - default: - { - if(debug) System.out.print("Invalid\t"); - break; - } - - } - if(debug) System.out.println(""); - } - } - catch (Exception all) - { - all.printStackTrace(); - } - } -} - -class SendSensors extends IODaemon -{ - public void run() - { - int i=0; - try - { - for(;;) - { - long timeStart=TINIOS.uptimeMillis(); - - int index; - if(aic.index.read()) index=1; else index=0; - - double disp=aic.encoder.read(); - if(debug) System.out.print("Encoder="+disp+" rad\tindex="+index+"\t"); - host.sendStatus(disp,index); - - long timeEnd=TINIOS.uptimeMillis(); - long blockTime=ST-(timeEnd-timeStart); - if(debug) System.out.println("Blocking time="+blockTime); - if(blockTime > 4) Thread.sleep(blockTime); - } - } - catch(Exception all) - { - all.printStackTrace(); - } - } -} - diff --git a/IODaemon/Makefile b/IODaemon/Makefile deleted file mode 100644 index a5bf029..0000000 --- a/IODaemon/Makefile +++ /dev/null @@ -1,16 +0,0 @@ -all: IODaemon.tini - -IODaemon.class: IODaemon.java ../lib/AIC.jar - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} IODaemon.java - -IODaemon.tini: IODaemon.class ../lib/AIC.jar - java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f IODaemon.class ${APIDBPATH} -o IODaemon.tini ${LIBPATH} ${NATLIB} - -clean: - rm -f *.bak *~ *.class - -distclean: clean - rm -f IODaemon.tini - -upload: IODaemon.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done \ No newline at end of file diff --git a/IODaemon/upload.ftp b/IODaemon/upload.ftp deleted file mode 100644 index 1124f56..0000000 --- a/IODaemon/upload.ftp +++ /dev/null @@ -1,3 +0,0 @@ -bin -put IODaemon.tini -quit diff --git a/IndexRtTest/IndexRtTest.java b/IndexRtTest/IndexRtTest.java deleted file mode 100644 index d0805b0..0000000 --- a/IndexRtTest/IndexRtTest.java +++ /dev/null @@ -1,76 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Index Real Time Test - User Interface Module - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import com.dalsemi.system.*; - -public class IndexRtTest -{ - public static native int startRealtime(int period); - public static native void stopRealtime(); - public static native boolean getIndex(); - - public static void main(String[] args) - { - System.out.println("IndexRtTest"); - System.out.println("Copyright (C) Walter Fetter Lages, 2005.\n"); - - int tfms=0; - if(args.length==1) - { - tfms=Integer.parseInt(args[0]); - } - else - { - System.out.println("Usage:\tIndexRtTest ms"); - System.exit(1); - } - - System.out.print("Loading native library..."); - System.loadLibrary("indextest.tlib"); - System.out.println("done."); - - int us=10000; - System.out.print("Starting real-time timer with "+us+" us period..."); - int period=startRealtime(us); - System.out.println("done."); - System.out.println("Effective period: "+period+" us."); - - System.out.println("Running IndexRtTest for "+tfms+" ms..."); - long t0=TINIOS.uptimeMillis(); - long t=0; - while(t <= tfms) - { - t=TINIOS.uptimeMillis()-t0; - System.out.print("t="+t+" ms"); - System.out.println("\tindex="+getIndex()); - } - System.out.println("...done."); - - System.out.print("Stoping real-time timer..."); - stopRealtime(); - System.out.println("done."); - } -} diff --git a/IndexRtTest/Makefile b/IndexRtTest/Makefile deleted file mode 100644 index 9db9ae5..0000000 --- a/IndexRtTest/Makefile +++ /dev/null @@ -1,30 +0,0 @@ -all: IndexRtTest.tini - -IndexRtTest.class: IndexRtTest.java - ${JAVAC} ${CLASSPATH} ${JAVAFLAGS} IndexRtTest.java - -indextest.mpp: indextest.a51 - ${ASMMACRO} -I${ASMINC} -e- indextest.a51 - -indextest.tlib: indextest.mpp ../lib/aicio.mpp.lib - cat indextest.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp - echo end >> tmp.mpp - ${ASM} ${ASMOPT} tmp.mpp - mv tmp.tlib indextest.tlib - mv tmp.lst indextest.lst - -indextest.a51: indextest.c - ${SDCC} ${SDCCCMPFLAGS} indextest.c - -IndexRtTest.tini: IndexRtTest.class indextest.tlib - java ${CLASSPATH} TINIConvertor -n indextest.tlib -f IndexRtTest.class ${APIDBPATH} -o IndexRtTest.tini - - -clean: - rm -f *.bak *~ IndexRtTest.class indextest.tlib indextest.mpp indextest.lst indextest.a51 globals.mpp tmp.mpp tmp.lst - -distclean: clean - rm -f IndexRtTest.tini - -upload: IndexRtTest.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done diff --git a/IndexRtTest/globals.a51 b/IndexRtTest/globals.a51 deleted file mode 100644 index e8fcbd4..0000000 --- a/IndexRtTest/globals.a51 +++ /dev/null @@ -1,30 +0,0 @@ -;****************************************************************************** -; -; Actuator Interface Card -; Index Real Time Test -; Real Time Module Global Variables -; Copyright (C) 2005 Walter Fetter Lages -; -; This program is free software; you can redistribute it and/or modify -; it under the terms of the GNU General Public License as published by -; the Free Software Foundation; either version 2 of the License, or -; (at your option) any later version. -; -; This program is distributed in the hope that it will be useful, -; but WITHOUT ANY WARRANTY; without even the implied warranty of -; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -; GNU General Public License for more details. -; -; You should have received a copy of the GNU General Public License -; along with this program; if not, write to the Free Software -; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. -; -; You can also obtain a copy of the GNU General Public License -; at . -; -;*******************************************************************************/ - - -index: db 0,0,0,0 -th: db 0,0,0,0 - end diff --git a/IndexRtTest/indextest.c b/IndexRtTest/indextest.c deleted file mode 100644 index 60fa2a1..0000000 --- a/IndexRtTest/indextest.c +++ /dev/null @@ -1,82 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Brake Real Time Test - Real Time Module - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ -#include -#include - -#include - -#define BASE 0x800000 - -extern volatile pthread_t th; -extern volatile long index; - -void indextest_globals(void) _naked -{ - _asm -th: db 0,0,0,0 -index: db 0,0,0,0 - _endasm; -} - -void *indextest(void *arg) -{ - index=index_read(); - return NULL; -} - -/* public static native int startRealtime(int period) */ -long Native_startRealtime(void) _JavaNative -{ - volatile long period=NatLib_LoadInt(0); - start_rt_timer(micro2count(period)); - pthread_create(&th,NULL,indextest,NULL); - - index_initialize(BASE); - - _asm - clr a - _endasm; - - return period; -} - -/* public static native void stopRealtime() */ -void Native_stopRealtime(void) _JavaNative -{ - pthread_cancel(th); - stop_rt_timer(); - - _asm - clr a - _endasm; -} - -/* public static native boolean getIndex() */ -long Native_getIndex(void) _JavaNative -{ - return index; -} - diff --git a/IndexTest/IndexTest.java b/IndexTest/IndexTest.java deleted file mode 100644 index cc52516..0000000 --- a/IndexTest/IndexTest.java +++ /dev/null @@ -1,64 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Index Test - Copyright (C) 2002, 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import br.ufrgs.ece.AIC.*; -import com.dalsemi.system.*; -import java.lang.Math.*; - -class IndexTest -{ - static final int BASE=0x800000; - static final int ST=500; - - static AIC aic; - - private static void delay(int ms) - { - long time=TINIOS.uptimeMillis(); - while(TINIOS.uptimeMillis() < time+ms); - } - - public static void main(String[] args) - { - int i; - boolean run=true; - - System.out.println("AIC Index Test Program"); - System.out.println("Copyright (C) Walter Fetter Lages, 2002...2004.\n"); - - aic=new AIC(BASE,24.0,20e3,2000); - - aic.on(); - - aic.motor.set(2.0); - - while(run) - { - System.out.println("Index=" + aic.index.read()); - delay(ST); - } - aic.off(); - } -} diff --git a/IndexTest/Makefile b/IndexTest/Makefile deleted file mode 100644 index efddbf8..0000000 --- a/IndexTest/Makefile +++ /dev/null @@ -1,16 +0,0 @@ -all: IndexTest.tini - -IndexTest.class: IndexTest.java ../lib/AIC.jar - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} IndexTest.java - -IndexTest.tini: IndexTest.class ../lib/AIC.jar - java ${CLASSPATH} TINIConvertor ${NATLIB} -f IndexTest.class ${APIDBPATH} -o IndexTest.tini ${LIBPATH} - -clean: - rm -f *.bak *~ IndexTest.class - -distclean: clean - rm -f IndexTest.tini - -upload: IndexTest.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done diff --git a/JointTest/JointTest.java b/JointTest/JointTest.java deleted file mode 100644 index 981c326..0000000 --- a/JointTest/JointTest.java +++ /dev/null @@ -1,71 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Robot Joint Test - Copyright (C) 2002, 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import br.ufrgs.ece.AIC.*; -import com.dalsemi.system.*; -import java.lang.Math.*; - -class JointTest -{ - static final int BASE=0x800000; - - static AIC aic; - - private static void delay(int ms) - { - long time=TINIOS.uptimeMillis(); - while(TINIOS.uptimeMillis() < time+ms); - } - - static void iter(double v,int ms) - { - aic.motor.set(v); - System.out.print("Motor Voltage: " + v); - System.out.println("\tIndex: " + aic.index.read()); - - delay(ms); - } - - public static void main(String[] args) - { - int i; - - System.out.println("AIC Joint Test Program"); - System.out.println("Copyright (C) Walter Fetter Lages, 2002.\n"); - - aic=new AIC(BASE,24.0,20e3,2000); - - aic.on(); - - aic.brake.release(); - - while(!aic.index.read()) - { - iter(5,1000); - iter(-5,1000); - } - aic.off(); - } -} diff --git a/JointTest/Makefile b/JointTest/Makefile deleted file mode 100644 index b9e1f79..0000000 --- a/JointTest/Makefile +++ /dev/null @@ -1,22 +0,0 @@ -CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:../lib/AIC.jar -APIDBPATH=-d /opt/tini/bin/tini.db -LIBPATH=-path ../lib/AIC.jar -NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib -JAVAFLAGS=-O -target 1.1 -source 1.3 - -all: JointTest.tini - -JointTest.class: JointTest.java ../lib/AIC.jar - javac ${JAVAFLAGS} ${CLASSPATH} JointTest.java - -JointTest.tini: JointTest.class ../lib/AIC.jar - java ${CLASSPATH} TINIConvertor -f JointTest.class ${APIDBPATH} -o JointTest.tini ${LIBPATH} ${NATLIB} - -clean: - rm -f *.bak *~ JointTest.class - -distclean: clean - rm -f JointTest.tini - -upload: JointTest.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done diff --git a/Makefile b/Makefile index df2d071..2eace11 100644 --- a/Makefile +++ b/Makefile @@ -1,89 +1,31 @@ -export CLASSPATH=-classpath /opt/tini/bin/tini.jar:/opt/tini/bin/tiniclasses.jar:/opt/tini/bin/modules.jar:../lib/AIC.jar:. -export DEPPATH=-p /opt/tini/bin/modules.jar -export DEPFILE=-x /opt/tini/bin/owapi_dep.txt -export DEPNAME=-add CAN -export LIBPATH=-path ../lib/AIC.jar -export NATLIB=-n brake.tlib -n encoder.tlib -n index.tlib -n pwm.tlib -export APIDBPATH=-d /opt/tini/bin/tini.db -export PKGPATH=br/ufrgs/ece/AIC -export JAVAFLAGS=-O -target 1.1 -source 1.3 -export JAVAC=javac - -export NATINC=/opt/tini/native/lib -export ASMINC=../include -export TINIINC=${ASMINC}/tini.inc ${ASMINC}/tinimacro.inc ${ASMINC}/ds80c390.inc ${ASMINC}/apiequ.inc -export ASMOPT=-f 1.17 -p 390 -l -export ASMMACRO=/opt/tini/native/bin/Linux/macro -export ASM=/opt/tini/native/bin/Linux/a390 - -export CFLAGS=-O2 -Wall -export CINCLUDE=-I. -I${HOME}/include -I/usr/realtime/include -I/usr/local/include -I/usr/src/linux/include -export CLIBS=-lpthread -lcanlib -lcutil -lconio -lncurses - -export CPPFLAGS= -export CPPINCLUDE=-I${HOME}/include/cpp -I/usr/local/include/cpp -I../include -export CPPLIBDIR=-L${HOME}/lib -L../lib -L/usr/local/lib -export CPPLIBS=-lcpputil -laic -lcontrol -export INSTPREFIX=/usr/local -export LIBINST=$(INSTPREFIX)/lib -export INCLUDEINST=$(INSTPREFIX)/include - -export INCLUDE=${CINCLUDE} ${CPPINCLUDE} -export FLAGS= ${CFLAGS} ${CPPFLAGS} -DREAL_TIME -DVERBOSE -DDEBUG -export LIBDIR=${CLIBDIR} ${CPPLIBDIR} -export LIBS=${CLIBS} ${CPPLIBS} - -export CC=gcc -export CXX=g++ -export CMPFLAGS=${FLAGS} ${INCLUDE} -export LDFLAGS=${LIBDIR} ${LIBS} - -export TRTAIPATH=${HOME}/src/tini/rtai -export TMATHPATH=${HOME}/src/tini/tmath -export SDCC=sdcc -export SDCCFLAGS=-mTININative -S --use-accelerator -export SDCCINCLUDE=-I${TRTAIPATH}/include -I${TMATHPATH}/include -I../include -export SDCCCMPFLAGS=${SDCCFLAGS} ${SDCCINCLUDE} - -export AIC=aic01 - -AICPACKAGES= AICOff \ - BrakeTest \ - BrakeRtTest \ - CANTest \ - EncoderTest \ - EncoderRtTest \ - EncoderRtRead \ - IndexTest \ - IndexRtTest \ - IODaemon \ - JointTest \ - MotorReset \ - MotorTest \ - MotorRtTest \ - PwmRtTest \ - PID \ - PIDDaemon \ - StrobeTest \ - DoorDaemon \ - DoorOpen \ - DoorWeb \ - CmdDaemon \ - SputWeb \ - SputPIDWeb \ - SputPIDDaemon - -PACKAGES= lib \ - ${AICPACKAGES} \ - aicd \ - braketst \ - encodertst \ - indextst \ - jointtst \ - motortst \ - pid \ - sputtering \ - doc +export AICROOT=$(HOME)/src/aic + +export CC=pic30-elf-gcc +export CCAR=pic30-elf-ar +export CCBIN2HEX=pic30-elf-bin2hex +export CCFLAGS=-Wall -O2 -fomit-frame-pointer -fno-schedule-insns -fno-schedule-insns2 +export CPU=-mcpu=30F4012 +export CCINCDIR=-I$(AICROOT)/include +export CCLIBDIR=-L/usr/pic30-elf/ +export CCGLDDIR=$(AICROOT)/gld +export CCGLDFILE=-T $(CCGLDDIR)/p30f4012.gld + +export OSROOT=$(AICROOT)/FreeRTOS +export OSFILES=$(OSROOT)/list.c $(OSROOT)/queue.c $(OSROOT)/tasks.c $(OSROOT)/croutine.c $(OSROOT)/portable/AIC-2.0.0/port.c $(OSROOT)/portable/MemMang/heap_1.c +export OSOBJS=list.o queue.o tasks.o croutine.o port.o heap_1.o +export OSINCDIR=-I$(OSROOT)/include -I$(OSROOT)/portable/AIC-2.0.0/ +export OSFLAGS=-DAIC_DSPIC_PORT + +export AICLIBDIR=-L$(AICROOT)/lib + +AICPACKAGES= dsPICtest \ + dsPICAICtest \ + freertostest \ + freertosAICtest \ + lib \ + serialtest + +PACKAGES= $(AICPACKAGES) all: for i in $(PACKAGES); do $(MAKE) -C $$i; done diff --git a/MotorReset/Makefile b/MotorReset/Makefile deleted file mode 100644 index 44ff8c5..0000000 --- a/MotorReset/Makefile +++ /dev/null @@ -1,16 +0,0 @@ -all: MotorReset.tini - -MotorReset.class: MotorReset.java ../lib/AIC.jar - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} MotorReset.java - -MotorReset.tini: MotorReset.class ../lib/AIC.jar - java ${CLASSPATH} TINIConvertor -f MotorReset.class ${APIDBPATH} -o MotorReset.tini ${LIBPATH} ${NATLIB} - -clean: - rm -f *.bak *~ MotorReset.class - -distclean: clean - rm -f MotorReset.tini - -upload: MotorReset.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done diff --git a/MotorReset/MotorReset.java b/MotorReset/MotorReset.java deleted file mode 100644 index 655be75..0000000 --- a/MotorReset/MotorReset.java +++ /dev/null @@ -1,72 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Motor Reset - Copyright (C) 2002, 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import br.ufrgs.ece.AIC.*; -import com.dalsemi.system.*; -import java.lang.Math.*; - -class MotorReset -{ - static final int BASE=0x800000; - - static AIC aic; - - private static void delay(int ms) - { - long time=TINIOS.uptimeMillis(); - while(TINIOS.uptimeMillis() < time+ms); - } - - static void iter(double v,int ms) - { - aic.motor.set(v); - System.out.print("Motor Voltage: " + v); - System.out.println("\tIndex: " + aic.index.read()); - - delay(ms); - } - - public static void main(String[] args) - { - - System.out.println("AIC Joint Test Program"); - System.out.println("Copyright (C) Walter Fetter Lages, 2002.\n"); - - aic=new AIC(BASE,24.0,20e3,2000); - - aic.on(); - - aic.brake.release(); - - double v=0; - - while(!aic.index.read()) - { - if(v < 24.0) v++; - iter(v,1000); - } - aic.off(); - } -} diff --git a/MotorRtTest/Makefile b/MotorRtTest/Makefile deleted file mode 100644 index 888e438..0000000 --- a/MotorRtTest/Makefile +++ /dev/null @@ -1,31 +0,0 @@ -all: MotorRtTest.tini - -MotorRtTest.class: MotorRtTest.java ../lib/AIC.jar - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} MotorRtTest.java - -motortest.mpp: motortest.a51 - ${ASMMACRO} -I${ASMINC} -e- motortest.a51 - -motortest.tlib: motortest.mpp ../lib/aicio.mpp.lib - cat motortest.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp - echo end >> tmp.mpp - ${ASM} ${ASMOPT} tmp.mpp - mv tmp.tlib motortest.tlib - mv tmp.lst motortest.lst - -motortest.a51: motortest.c - ${SDCC} ${SDCCCMPFLAGS} motortest.c - -MotorRtTest.tini: MotorRtTest.class motortest.tlib - java ${CLASSPATH} TINIConvertor -n motortest.tlib -f MotorRtTest.class ${APIDBPATH} -o MotorRtTest.tini - - -clean: - rm -f *.bak *~ MotorRtTest.class motortest.tlib motortest.mpp motortest.lst motortest.a51 globals.mpp tmp.mpp tmp.lst - -distclean: clean - rm -f MotorRtTest.tini - -upload: MotorRtTest.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done - \ No newline at end of file diff --git a/MotorRtTest/MotorRtTest.java b/MotorRtTest/MotorRtTest.java deleted file mode 100644 index dcd4db3..0000000 --- a/MotorRtTest/MotorRtTest.java +++ /dev/null @@ -1,98 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Motor Real Time Test - User Interface Module - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import com.dalsemi.system.*; -import java.lang.Math.*; - -class MotorRtTest -{ - public static native int startRealtime(int period); - public static native void stopRealtime(); - public static native void motorSet(float voltage); - - static final int ST=100; - - private static void delay(int ms) - { - long time=TINIOS.uptimeMillis(); - while(TINIOS.uptimeMillis() < time+ms); - } - - static void iter(int i) - { - motorSet(i); - System.out.println("Motor Voltage: " + i); - delay(ST); - } - - public static void main(String[] args) - { - int i; - boolean run=true; - - System.out.println("AIC Motor Real Time Test Program"); - System.out.println("Copyright (C) Walter Fetter Lages, 2005.\n"); - - int tfms=0; - if(args.length==1) - { - tfms=Integer.parseInt(args[0]); - } - else - { - System.out.println("Usage:\tMotorRtTest ms"); - System.exit(1); - } - - System.out.print("Loading native library..."); - System.loadLibrary("motortest.tlib"); - System.out.println("done."); - - int us=10000; - System.out.print("Starting real-time timer with "+us+" us period..."); - int period=startRealtime(us); - System.out.println("done."); - System.out.println("Effective period: "+period+" us."); - - System.out.println("Running MotorRtTest for "+tfms+" ms..."); - - long t0=TINIOS.uptimeMillis(); - long t=TINIOS.uptimeMillis()-t0; - while(t <= tfms) - { - System.out.println("t="+t+" ms"); - for(i=0;(i <= 24) && run;i++) iter(i); - for(i=24;(i >= -24) && run;i--) iter(i); - for(i=-24;(i <= 0) && run;i++) iter(i); - t=TINIOS.uptimeMillis()-t0; - } - System.out.println("...done."); - - System.out.print("Stoping real-time timer..."); - stopRealtime(); - System.out.println("done."); - } -} diff --git a/MotorRtTest/motortest.c b/MotorRtTest/motortest.c deleted file mode 100644 index 777ae51..0000000 --- a/MotorRtTest/motortest.c +++ /dev/null @@ -1,117 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Motor Real Time Test - Real Time Module - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ -#include -#include - -#include - -#define BASE 0x800000 - -volatile pthread_t th; -volatile float motor_test_voltage; - -void motortest_globals(void) _naked -{ - _asm -th: db 0,0,0,0 -motor_test_voltage: db 0,0,0,0 - _endasm; -} - -void *motortest(void *arg) -{ - motor_set(motor_test_voltage); - return NULL; -} - -/* public static native int startRealtime(int period) */ -long Native_startRealtime(void) _JavaNative -{ - volatile long period; - - aic_initialize(BASE,24.0,20e3,2000); - - period=NatLib_LoadInt(0); - start_rt_timer(micro2count(period)); - pthread_create(&th,NULL,motortest,NULL); - - pwm_set_duty(500000); - aic_on(); - brake_release(); - - _asm - clr a - _endasm; - - return period; -} - -/* public static native void stopRealtime() */ -void Native_stopRealtime(void) _JavaNative -{ - brake_apply(); - aic_off(); - - pthread_cancel(th); - stop_rt_timer(); - - aic_finalize(); - - _asm - clr a - _endasm; -} - -/* public static native void motorSet(float voltage) */ -void Native_motorSet(void) _JavaNative -{ - /* - volatile long v =NatLib_LoadInt(0); - voltage=*((float *) &v); - */ - - _asm - clr a - lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0 - mov dptr,#motor_test_voltage - mov a,r0 - movx @dptr,a - inc dptr - mov a,r1 - movx @dptr,a - inc dptr - mov a,r2 - movx @dptr,a - inc dptr - mov a,r3 - movx @dptr,a - _endasm; - - _asm - clr a - _endasm; -} - diff --git a/MotorTest/Makefile b/MotorTest/Makefile deleted file mode 100644 index ff28e65..0000000 --- a/MotorTest/Makefile +++ /dev/null @@ -1,16 +0,0 @@ -all: MotorTest.tini - -MotorTest.class: MotorTest.java ../lib/AIC.jar - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} MotorTest.java - -MotorTest.tini: MotorTest.class ../lib/AIC.jar - java ${CLASSPATH} TINIConvertor -f MotorTest.class ${APIDBPATH} -o MotorTest.tini ${LIBPATH} ${NATLIB} - -clean: - rm -f *.bak *~ MotorTest.class - -distclean: clean - rm -f MotorTest.tini - -upload: MotorTest.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done diff --git a/MotorTest/MotorTest.java b/MotorTest/MotorTest.java deleted file mode 100644 index feedf79..0000000 --- a/MotorTest/MotorTest.java +++ /dev/null @@ -1,74 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Motor Test - Copyright (C) 2002...2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import br.ufrgs.ece.AIC.*; -import com.dalsemi.system.*; -import java.lang.Math.*; - -class MotorTest -{ - static final int BASE=0x800000; - static final int ST=100; - - static AIC aic; - - private static void delay(int ms) - { - long time=TINIOS.uptimeMillis(); - while(TINIOS.uptimeMillis() < time+ms); - } - - static void iter(int i) - { - aic.motor.set(i); - System.out.println("Motor Voltage: " + i); - - delay(ST); - } - - public static void main(String[] args) - { - int i; - boolean run=true; - - System.out.println("AIC Motor Test Program"); - System.out.println("Copyright (C) Walter Fetter Lages, 2002...2004.\n"); - - int v=Integer.parseInt(args[0]); - int t=Integer.parseInt(args[1]); - - aic=new AIC(BASE,24.0,20e3,2000); - - aic.on(); - - aic.brake.release(); - - aic.motor.set(v); - delay(t); - aic.motor.set(0); - - aic.off(); - } -} diff --git a/PID/Makefile b/PID/Makefile deleted file mode 100644 index 910bfed..0000000 --- a/PID/Makefile +++ /dev/null @@ -1,30 +0,0 @@ -all: PID.tini - -PID.class: PID.java - ${JAVAC} ${CLASSPATH} ${JAVAFLAGS} PID.java - -pid.mpp: pid.a51 - ${ASMMACRO} -I${ASMINC} -e- pid.a51 - -pid.tlib: pid.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib - cat pid.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp - echo end >> tmp.mpp - ${ASM} ${ASMOPT} tmp.mpp - mv tmp.tlib pid.tlib - mv tmp.lst pid.lst - -pid.a51: pid.c - ${SDCC} ${SDCCCMPFLAGS} pid.c - -PID.tini: PID.class pid.tlib - java ${CLASSPATH} TINIConvertor -n pid.tlib -f PID.class ${APIDBPATH} -o PID.tini - - -clean: - rm -f *.bak *~ PID.class pid.tlib pid.mpp pid.lst pid.a51 globals.mpp tmp.mpp tmp.lst - -distclean: clean - rm -f PID.tini - -upload: PID.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done \ No newline at end of file diff --git a/PID/PID.java b/PID/PID.java deleted file mode 100644 index 30e2750..0000000 --- a/PID/PID.java +++ /dev/null @@ -1,78 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - PID - User Interface Module - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import com.dalsemi.system.*; - -public class PID -{ - public static native int startRealtime(int period); - public static native void stopRealtime(); - public static native void setReference(float reference); - public static native float getOutput(); - - public static void main(String[] args) - { - System.out.println("PID"); - System.out.println("Copyright (C) Walter Fetter Lages, 2005.\n"); - - int tfms=0; - if(args.length==1) - { - tfms=Integer.parseInt(args[0]); - } - else - { - System.out.println("Usage:\tPID ms"); - System.exit(1); - } - - System.out.print("Loading native library..."); - System.loadLibrary("pid.tlib"); - System.out.println("done."); - - int us=10000; - System.out.print("Starting real-time timer with "+us+" us period..."); - int period=startRealtime(us); - System.out.println("done. Effective period: "+period+" us."); - - System.out.println("Running PID for "+tfms+" ms..."); - long t0=TINIOS.uptimeMillis(); - long t=0; - while(t <= tfms) - { - t=TINIOS.uptimeMillis()-t0; - System.out.print("t="+t+" ms"); - float ref=t/2.0f; - setReference(ref); - System.out.println("\treference="+ref+"\toutput="+getOutput()); - } - System.out.println("...done."); - - System.out.print("Stoping real-time timer..."); - stopRealtime(); - System.out.println("done."); - } -} diff --git a/PID/pid.c b/PID/pid.c deleted file mode 100644 index b70a822..0000000 --- a/PID/pid.c +++ /dev/null @@ -1,164 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - PID - Real Time Module - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include -#include - -#include - -#include - -#define BASE 0x800000 - -#define Kp 20.0 -#define Ki 5.0 -#define Kd 10.0 - -#define MIN_U -24.0 -#define MAX_U 24.0 - -static pthread_t th; -static float u; -static float y; -static float ref; -static float e1; -static float e2; - -static void pid_dummy(void) _naked -{ - _asm -th: db 0,0,0,0 -u: db 0,0,0,0 -y: db 0,0,0,0 -ref: db 0,0,0,0 -e1: db 0,0,0,0 -e2: db 0,0,0,0 - _endasm; -} - - -/* By now this is not actually a thread as it should be, - but a function that is called at each timer interrupt */ -void *pid(void *arg) -{ - float e; - -// volatile long *y=(volatile long *)arg; -// for(;;) -// { -// rt_wait_period(); - - y+=encoder_read_and_clear(); - - e=ref-y; - - u+=Kp*(e-e1)+Ki*e+Kd*(e-2*e1+e2); - if(u < MIN_U) u=MIN_U; - if(u > MAX_U) u=MAX_U; - - motor_set(u); - - e2=e1; - e1=e; -// } - return NULL; -} - -/* public static native int startRealtime(int period) */ -long Native_startRealtime(void) _JavaNative -{ - volatile long period; - RTIME count; - - aic_initialize(BASE,24.0,20e3,2000); - - period = NatLib_LoadInt(0); - count=micro2count(period); - start_rt_timer(count); - pthread_create(&th,NULL,pid,NULL); - period=count2micro(count); - - pwm_set_duty(500000); // debug - aic_on(); - brake_release(); - - _asm - clr a - _endasm; - - return period; -} - -/* public static native void stopRealtime() */ -void Native_stopRealtime(void) _JavaNative -{ - motor_set(0.0); - brake_apply(); - - pthread_cancel(th); - stop_rt_timer(); - - aic_off(); - - aic_finalize(); - - _asm - clr a - _endasm; -} - -/* public static native float getOutput() */ -float Native_getOutput(void) _JavaNative -{ - return y; -} - -/* public static native void setReference(float reference) */ -void Native_setReference(void) _JavaNative -{ - /* - volatile long ref =NatLib_LoadInt(0); - ref=*((float *) &ref); - */ - - _asm - clr a - lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0 - mov dptr,#ref - mov a,r0 - movx @dptr,a - inc dptr - mov a,r1 - movx @dptr,a - inc dptr - mov a,r2 - movx @dptr,a - inc dptr - mov a,r3 - movx @dptr,a - clr a - _endasm; -} diff --git a/PIDDaemon/Makefile b/PIDDaemon/Makefile deleted file mode 100644 index 14d22d4..0000000 --- a/PIDDaemon/Makefile +++ /dev/null @@ -1,16 +0,0 @@ -all: PIDDaemon.tini - -PIDDaemon.class: PIDDaemon.java ../lib/AIC.jar - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} PIDDaemon.java - -PIDDaemon.tini: PIDDaemon.class ../lib/AIC.jar - java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f PIDDaemon.class ${APIDBPATH} -o PIDDaemon.tini ${LIBPATH} ${NATLIB} - -clean: - rm -f *.bak *~ *.class - -distclean: clean - rm -f PIDDaemon.tini - -upload: PIDDaemon.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done \ No newline at end of file diff --git a/PIDDaemon/PIDDaemon.java b/PIDDaemon/PIDDaemon.java deleted file mode 100644 index 743b3c7..0000000 --- a/PIDDaemon/PIDDaemon.java +++ /dev/null @@ -1,236 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - PID Daemon - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import br.ufrgs.ece.AIC.*; -import com.dalsemi.comm.*; -import com.dalsemi.system.*; -import java.io.*; -import java.lang.*; - -class PIDDaemon extends Thread -{ - static final int BASE=0x800000; - static final int ST=250; - - static AIC aic; - static Host host; - static boolean debug=false; - static boolean udp=false; - static boolean help=false; - - public static void main(String[] args) throws IOException,CanBusException - { - int i; - int hostarg=0; - - System.out.println("AIC PID Daemon"); - System.out.println("Copyright (C) 2005 Walter Fetter Lages .\n"); - - switch(args.length) - { - case 0: - { - help=true; - break; - } - case 1: - { - if(args[0].equals("-debug") || - args[0].equals("-UDP")) help=true; - break; - } - case 2: - { - hostarg=1; - if(args[0].equals("-debug")) debug=true; - else help=true; - break; - } - case 3: - { - hostarg=1; - if(args[0].equals("-UDP")) udp=true; - else help=true; - break; - } - case 4: - { - hostarg=2; - if(args[0].equals("-debug")) debug=true; - else help=true; - if(args[1].equals("-UDP")) udp=true; - else help=true; - break; - } - default: - { - help=true; - } - } - - - if(help) - { - System.out.println("Usage:\tjava PIDDaemon.tini [-debug] aic_id"); - System.out.println("\tor"); - System.out.println("\tjava PIDDaemon.tini [-debug] -UDP controller_host status_port"); - System.exit(1); - } - try - { - aic=new AIC(BASE,24.0,20e3,2000); - if(udp) host=new HostUDP(args[hostarg],Integer.parseInt(args[hostarg+1])); - else host=new HostCAN(Integer.parseInt(args[hostarg])); - SendOutput sendOutput=new SendOutput(); - sendOutput.setPriority(Thread.MAX_PRIORITY); - sendOutput.start(); - - if(debug) System.out.println("sendOutput priority="+sendOutput.getPriority()); - - GetReference getReference=new GetReference(); - getReference.setPriority(Thread.MAX_PRIORITY-1); - getReference.start(); - - if(debug) System.out.println("getReference priority="+getReference.getPriority()); - } - catch (NumberFormatException nfe) - { - System.out.println("Usage: java PIDDaemon.tini [-debug] [-UDP controller_host port] | aicid"); - System.exit(1); - } - } -} - - -class GetReference extends PIDDaemon -{ - public void run() - { - try - { - aic.on(); - aic.brake.release(); - - for(int k=0;;k++) - { - if(debug) System.out.print("k="+k+"\t"); - - int cmd=host.command(); - - if(debug) System.out.print("Command="+ cmd +"\t"); - - switch(cmd) - { - case Host.MOTOR_ON: - { - if(debug) System.out.print("Motor on\t"); - aic.motor.on(); - break; - } - case Host.MOTOR_OFF: - { - if(debug) System.out.print("Motor off\t"); - aic.motor.off(); - break; - } - case Host.MOTOR_ACT: - { - if(debug) System.out.print("Voltage="+host.voltage()+"\t"); - aic.motor.set(host.voltage()); - break; - } - case Host.MOTOR_REF: - { - if(debug) System.out.print("Reference="+host.reference()+"\t"); - //aic.pid.set(host.reference()); - break; - } - case Host.BRAKE_RELEASE: - { - if(debug) System.out.print("Brake release\t"); - aic.brake.release(); - break; - } - case Host.BRAKE_APPLY: - { - if(debug) System.out.print("Brake apply\t"); - aic.brake.apply(); - break; - } -/* case Host.RESET: - { - if(debug) System.out.print("Reset\t"); - aic.reset(); - break; - } -*/ - default: - { - if(debug) System.out.print("Invalid\t"); - break; - } - - } - if(debug) System.out.println(""); - } - } - catch (Exception all) - { - all.printStackTrace(); - } - } -} - -class SendOutput extends PIDDaemon -{ - public void run() - { - int i=0; - try - { - for(;;) - { - long timeStart=TINIOS.uptimeMillis(); - - int index; - if(aic.index.read()) index=1; else index=0; - - double disp=aic.encoder.read(); - if(debug) System.out.print("Encoder="+disp+" rad\tindex="+index+"\t"); - host.sendStatus(disp,index); - - long timeEnd=TINIOS.uptimeMillis(); - long blockTime=ST-(timeEnd-timeStart); - if(debug) System.out.println("Blocking time="+blockTime); - if(blockTime > 4) Thread.sleep(blockTime); - } - } - catch(Exception all) - { - all.printStackTrace(); - } - } -} - diff --git a/PwmRtTest/Makefile b/PwmRtTest/Makefile deleted file mode 100644 index 3b01178..0000000 --- a/PwmRtTest/Makefile +++ /dev/null @@ -1,31 +0,0 @@ -all: PwmRtTest.tini - -PwmRtTest.class: PwmRtTest.java ../lib/AIC.jar - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} PwmRtTest.java - -pwmtest.mpp: pwmtest.a51 - ${ASMMACRO} -I${ASMINC} -e- pwmtest.a51 - -pwmtest.tlib: pwmtest.mpp ../lib/aicio.mpp.lib - cat pwmtest.mpp ${TRTAIPATH}/lib/rtai.mpp.lib ../lib/aicio.mpp.lib > tmp.mpp - echo end >> tmp.mpp - ${ASM} ${ASMOPT} tmp.mpp - mv tmp.tlib pwmtest.tlib - mv tmp.lst pwmtest.lst - -pwmtest.a51: pwmtest.c ../include/aicio.h - ${SDCC} ${SDCCCMPFLAGS} pwmtest.c - -PwmRtTest.tini: PwmRtTest.class pwmtest.tlib - java ${CLASSPATH} TINIConvertor -n pwmtest.tlib -f PwmRtTest.class ${APIDBPATH} -o PwmRtTest.tini - - -clean: - rm -f *.bak *~ PwmRtTest.class pwmtest.tlib pwmtest.mpp pwmtest.lst pwmtest.a51 globals.mpp tmp.mpp tmp.lst - -distclean: clean - rm -f PwmRtTest.tini - -upload: PwmRtTest.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done - \ No newline at end of file diff --git a/PwmRtTest/PwmRtTest.java b/PwmRtTest/PwmRtTest.java deleted file mode 100644 index 83eac6a..0000000 --- a/PwmRtTest/PwmRtTest.java +++ /dev/null @@ -1,107 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - PWM Real Time Test - User Interface Module - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import com.dalsemi.system.*; -import java.lang.Math.*; - -class PwmRtTest -{ - public static native int startRealtime(int period); - public static native void stopRealtime(); - public static native void pwmSet(int duty); - static final int ST=100; - - private static void delay(int ms) - { - long time=TINIOS.uptimeMillis(); - while(TINIOS.uptimeMillis() < time+ms); - } - - static void iter(int i) - { - double volt2duty=0.5/24.0; - int dutycycle=((int)(i*volt2duty*1000000))+500000; - pwmSet(dutycycle); - System.out.println("PWM Duty Cicle: " + dutycycle); - delay(ST); - } - - public static void main(String[] args) - { - int i; - boolean run=true; - - System.out.println("AIC PWM Real Time Test Program"); - System.out.println("Copyright (C) Walter Fetter Lages, 2005.\n"); - - int tfms=0; - if(args.length==1) - { - tfms=Integer.parseInt(args[0]); - } - else - { - System.out.println("Usage:\tPwmRtTest ms"); - System.exit(1); - } - - System.out.print("Loading native library..."); - System.loadLibrary("pwmtest.tlib"); - System.out.println("done."); - - System.out.print("Setting initial PWM duty cicle..."); - pwmSet(500000); - System.out.println("done."); - - int us=10000; - System.out.print("Starting real-time timer with "+us+" us period..."); - int period=startRealtime(us); - System.out.println("done."); - System.out.println("Effective period: "+period+" us."); - - System.out.println("Running PwmRtTest for "+tfms+" ms..."); - - long t0=TINIOS.uptimeMillis(); - long t=0; - while(t <= tfms) - { - System.out.println("t="+t+" ms"); - for(i=0;(i <= 24) && run;i++) iter(i); - t=TINIOS.uptimeMillis()-t0; - if(t > tfms) break; - for(i=24;(i >= -24) && run;i--) iter(i); - t=TINIOS.uptimeMillis()-t0; - if(t > tfms) break; - for(i=-24;(i <= 0) && run;i++) iter(i); - t=TINIOS.uptimeMillis()-t0; - } - System.out.println("...done."); - - System.out.print("Stoping real-time timer..."); - stopRealtime(); - System.out.println("done."); - } -} diff --git a/PwmRtTest/pwmtest.c b/PwmRtTest/pwmtest.c deleted file mode 100644 index fc7765e..0000000 --- a/PwmRtTest/pwmtest.c +++ /dev/null @@ -1,100 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - PWM Real Time Test - Real Time Module - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ -#include -#include - -#include - -#define BASE 0x800000 - -volatile pthread_t th; -volatile unsigned long duty; - -void pwmtest_globals(void) _naked -{ - _asm -th: db 0,0,0,0 -duty: db 0,0,0,0 - _endasm; -} - -void *pwmtest(void *arg) -{ - pwm_set_duty(duty); - return NULL; -} - -/* public static native int startRealtime(int period) */ -long Native_startRealtime(void) _JavaNative -{ - unsigned int count; - volatile long period; - - count=((unsigned int)(REF_FREQ/20e3)) & 0xffff; - pwm_initialize(BASE,MIN_COUNT,count); - brake_initialize(BASE); - - period=NatLib_LoadInt(0); - start_rt_timer(micro2count(period)); - pthread_create(&th,NULL,pwmtest,NULL); - - pwm_set_duty(500000); - pwm_on(); - brake_release(); - - _asm - clr a - _endasm; - - return period; -} - -/* public static native void stopRealtime() */ -void Native_stopRealtime(void) _JavaNative -{ - brake_apply(); - pwm_off(); - - pthread_cancel(th); - stop_rt_timer(); - - pwm_finalize(); - - _asm - clr a - _endasm; -} - -/* public static native void pwmSet(unsigned int duty) */ -void Native_pwmSet(void) _JavaNative -{ - duty=NatLib_LoadInt(0); - - _asm - clr a - _endasm; -} - diff --git a/README b/README index 18a554f..4ac93c2 100644 --- a/README +++ b/README @@ -2,8 +2,5 @@ aic-1.*.* based on TINI DS390 processor -Em funcao de alteracos no protocolo de aplicacao, os programas desta versao -que utilizam comunicacao nao sao compativeis com os correspondentes das -versoes anteriores a 1.2.0. Assim, os daemons que estejam instalados na AIC -devem ser substituidos pela nova versao. - +aic-2.*.* dsPIC30F4012 + aic-2.0.* MAX5062 MOSFET driver, do not work diff --git a/SputPIDDaemon/Makefile b/SputPIDDaemon/Makefile deleted file mode 100644 index a78af5f..0000000 --- a/SputPIDDaemon/Makefile +++ /dev/null @@ -1,22 +0,0 @@ -DEPNAME+=-add HTTPSERVER -NATLIB:=-n sputtering.tlib - -all: SputPIDDaemon.tini - -SputPIDDaemon.class: SputPIDDaemon.java ../lib/AIC.jar - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} SputPIDDaemon.java - -ResetHandler.class: SputPIDDaemon.java ../lib/AIC.jar - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} SputPIDDaemon.java - -SputPIDDaemon.tini: SputPIDDaemon.class ../lib/AIC.jar ResetHandler.class - java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f SputPIDDaemon.class -f ResetHandler.class -f MotorHandler.class -f ShutterHandler.class ${APIDBPATH} -o SputPIDDaemon.tini ${LIBPATH} ${NATLIB} - -clean: - rm -f *.bak *~ *.class *.tlib - -distclean: clean - rm -f SputPIDDaemon.tini - -upload: SputPIDDaemon.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done diff --git a/SputPIDDaemon/SputPIDDaemon.java b/SputPIDDaemon/SputPIDDaemon.java deleted file mode 100644 index 548883c..0000000 --- a/SputPIDDaemon/SputPIDDaemon.java +++ /dev/null @@ -1,472 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Sputtering PID Daemon - Copyright (C) 2007 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import br.ufrgs.ece.AIC.*; -import com.dalsemi.comm.*; -import com.dalsemi.system.*; -import java.io.*; -import java.lang.*; - -import com.dalsemi.tininet.http.*; -import com.dalsemi.tininet.*; -import java.util.*; - -/** -*/ -public class SputPIDDaemon extends Thread -{ - static final int ST=250*4; - - static Sputtering sputtering=new Sputtering(); - static Host host; - static boolean debug=false; - static boolean udp=false; - static boolean help=false; - - public static void main(String[] args) throws IOException,CanBusException - { - int hostarg=0; - - System.out.println("AIC Sputtering PID Daemon"); - System.out.println("Copyright (C) 2007 Walter Fetter Lages .\n"); - System.out.println(" 2007 Diego Caberlon Santini .\n"); - - switch(args.length) - { - case 0: - { - help=true; - break; - } - case 1: - { - if(args[0].equals("-debug") || - args[0].equals("-UDP")) help=true; - break; - } - case 2: - { - hostarg=1; - if(args[0].equals("-debug")) debug=true; - else help=true; - break; - } - case 3: - { - hostarg=1; - if(args[0].equals("-UDP")) udp=true; - else help=true; - break; - } - case 4: - { - hostarg=2; - if(args[0].equals("-debug")) debug=true; - else help=true; - if(args[1].equals("-UDP")) udp=true; - else help=true; - break; - } - default: - { - help=true; - } - } - - - if(help) - { - System.out.println("Usage:\tjava PIDDaemon.tini [-debug] aic_id"); - System.out.println("\tor"); - System.out.println("\tjava PIDDaemon.tini [-debug] -UDP controller_host status_port"); - System.exit(1); - } - try - { - if(udp) host=new HostUDP(args[hostarg],Integer.parseInt(args[hostarg+1])); - else host=new HostCAN(Integer.parseInt(args[hostarg])); - - SendOutput sendOutput=new SendOutput(); - sendOutput.setPriority(Thread.MAX_PRIORITY); - sendOutput.start(); - - if(debug) System.out.println("sendOutput priority="+sendOutput.getPriority()); - - GetReference getReference=new GetReference(); - getReference.setPriority(Thread.MAX_PRIORITY-1); - getReference.start(); - - if(debug) System.out.println("getReference priority="+getReference.getPriority()); - - HTTPServer httpd=new HTTPServer(80); - httpd.setHTTPRoot("/html"); - httpd.setIndexPage("index.html"); -// httpd.setLogFilename("/log/DoorWeb.txt"); - httpd.setLogging(false); - - while (true) - { - try - { - httpd.serviceRequests(); - } - catch (HTTPServerException e) - { - System.out.println("Error occured while servicing requests: " + e.getMessage()); - } - } - - } - catch (NumberFormatException nfe) - { - System.out.println("Usage: java PIDDaemon.tini [-debug] [-UDP controller_host port] | aicid"); - System.exit(1); - } - } -} - -/** -*/ -class GetReference extends SputPIDDaemon -{ - public static final int SHUTTER=Host.USER0; - - public void run() - { - try - { - for(int k=0;;k++) - { - if(debug) System.out.print("k="+k+"\t"); - - byte[] args=new byte[256]; - int cmd=host.command(args,256); - - if(debug) System.out.println("Command="+ cmd +"\t"); - - switch(cmd) - { - case Host.MOTOR_REF: - { - if(debug) System.out.println("Run PID Ref="+host.reference()+"\t"); - while(sputtering.lock() == 0); - - int tick=30000; - - //ref in rad - float ref=(float)host.reference(); - - float y=sputtering.getOutput(); - - sputtering.setReference(ref); - if(debug) System.out.print("Starting real-time timer with "+tick+" us period..."); - int period= sputtering.pidStartRealtime(tick); - if(debug) System.out.println("done. Effective period: "+period+" us."); - - if(debug) System.out.println("Running sputtering"); - - while((Math.abs(ref - y) >= 0.02)) - { - y=sputtering.getOutput(); - if(debug) System.out.println("\treference="+ref+"\toutput="+y); - } - if(debug) System.out.println("done."); - - if(debug) System.out.print("Stoping real-time timer..."); - sputtering.pidStopRealtime(); - if(debug) System.out.println("done."); - - sputtering.unlock(); - break; - } - case Host.RESET: - { - if(debug) System.out.print("Reset PID..."); - while(sputtering.lock() == 0); - sputtering.findHome(); - if(debug) System.out.println("done."); - sputtering.unlock(); - break; - } - case SHUTTER: - { - int time=0; - for(int i=0;i < 4;i++) time=time | ( ( ( ( (int) args[i+1]) & 0xff) << (i*8) ) ); - if(debug) System.out.println("Shutter Open time="+time+"\t"); - while(sputtering.lock() == 0); - - int tick=10000; - //time in usec - int iref= time/tick; - sputtering.openShutter(iref); - - if(debug) System.out.print("Starting real-time timer with "+tick+" us period..."); - int period= sputtering.shutterStartRealtime(tick); - if(debug) System.out.println("done. Effective period: "+period+" us."); - - - if(debug) System.out.println("Shutter Opened"); - - while(sputtering.getTime() <= iref); - - if(debug) System.out.println("done."); - - if(debug) System.out.print("Stoping real-time timer..."); - sputtering.shutterStopRealtime(); - if(debug) System.out.println("done."); - - sputtering.unlock(); - break; - } - - default: - { - if(debug) System.out.println("Invalid\t"); - break; - } - - } - } - } - catch (Exception all) - { - all.printStackTrace(); - } - } -} - -/** -*/ -class SendOutput extends SputPIDDaemon -{ - public void run() - { - try - { - for(;;) - { - long timeStart=com.dalsemi.system.Clock.getTickCount(); - - int index=0; - if(sputtering.getIndex()!=0) index|=Host.INDEX_ON; - if(sputtering.lock() == 0) index|=Host.BUSY; else sputtering.unlock(); - - double disp=sputtering.getOutput(); - if(debug) System.out.print("Encoder="+disp+" rad\tindex="+index+"\t"); - host.sendStatus(disp,index); - - long timeEnd=com.dalsemi.system.Clock.getTickCount();; - long blockTime=ST-(timeEnd-timeStart); - if(debug) System.out.println("Blocking time="+blockTime); - if(blockTime > 4) Thread.sleep(blockTime); - } - } - catch(Exception all) - { - all.printStackTrace(); - } - } -} - -/** -*/ -class MotorHandler extends SputPIDDaemon implements PostScript -{ - /** - * This method handles all responses to the the HTTP POST - * - * @param data - a Vector of PostElements holding all supplied fields and Values in pairs - * @param out - an Output Stream to the client socket - * @param work - HTTPWorker contains utility functions used to URL encode our response - * @throws IOException if an IO error occurs - */ - public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException - { - while(sputtering.lock() == 0); - // Response page - - // HTML headers - - StringBuffer strBuff=new StringBuffer("\r\n" - + "\r\n" - + "Motor Control\r\n" - + "

Motor Sendo Posicionado... Aguarde

\r\n"); - - PostElement pref = (PostElement)data.elementAt(0); - - // Use HTTPWorker's encode body function to generate the URL encoded response - out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length())); - - // Send out the bytes of our response page - out.write(strBuff.toString().getBytes()); - - // Ensure that our data is written imediatly - out.flush(); - - - int iref = Integer.parseInt(pref.value); - float ref=iref*(float)Math.PI/180; - sputtering.setReference(ref); - - int tfms=10000; - int tick=30000; - if(debug) System.out.print("Starting real-time timer with "+tick+" us period..."); - int period= sputtering.pidStartRealtime(tick); - if(debug) System.out.println("done. Effective period: "+period+" us."); - - if(debug) System.out.println("Running PID for "+tfms+" ms..."); - int t0=sputtering.getTime(); - int t=0; - int t1; - - System.gc(); - - try - { - long blockTime=2000; - if(debug) System.out.println("Blocking time="+blockTime); - if(blockTime > 4) Thread.sleep(blockTime); - } - catch(Exception all) - { - all.printStackTrace(); - } - - try - { - while(t*tick/1000 <= tfms) - { - t1=sputtering.getTime(); - t=t1-t0; - if(debug) System.out.print("t="+t*tick/1000+" ms"); - if(debug) System.out.println("\treference="+ref+"\toutput="+sputtering.getOutput()); - } - } - catch(Exception all) - { - System.gc(); - } - if(debug) System.out.println("...done."); - - if(debug) System.out.print("Stoping real-time timer..."); - sputtering.pidStopRealtime(); - if(debug) System.out.println("done."); - - sputtering.unlock(); - } -} - -/** -*/ -class ResetHandler extends SputPIDDaemon implements PostScript -{ - /** - * This method handles all responses to the the HTTP POST - * - * @param data - a Vector of PostElements holding all supplied fields and Values in pairs - * @param out - an Output Stream to the client socket - * @param work - HTTPWorker contains utility functions used to URL encode our response - * @throws IOException if an IO error occurs - */ - public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException - { - while(sputtering.lock() == 0); - - // HTML headers - StringBuffer strBuff=new StringBuffer("\r\n" - + "\r\n" - + "Reset Control\r\n" - + "

Motor Sendo Resetado... Aguarde

\r\n"); - - // Use HTTPWorker's encode body function to generate the URL encoded response - out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length())); - - // Send out the bytes of our response page - out.write(strBuff.toString().getBytes()); - - // Ensure that our data is written imediatly - out.flush(); - - if(debug) System.out.println("Resetando Motor..."); - sputtering.findHome(); - if(debug) System.out.println("done"); - sputtering.unlock(); - } -} - -/** -*/ -class ShutterHandler extends SputPIDDaemon implements PostScript -{ - /** - * This method handles all responses to the the HTTP POST - * - * @param data - a Vector of PostElements holding all supplied fields and Values in pairs - * @param out - an Output Stream to the client socket - * @param work - HTTPWorker contains utility functions used to URL encode our response - * @throws IOException if an IO error occurs - */ - public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException - { - // HTML headers - while(sputtering.lock() == 0); - StringBuffer strBuff=new StringBuffer("\r\n" - + "\r\n" - + "Shutter Control\r\n" - + "

Shutter Aberto... Aguarde

\r\n"); - - PostElement pref = (PostElement)data.elementAt(0); - - // Use HTTPWorker's encode body function to generate the URL encoded response - out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length())); - - // Send out the bytes of our response page - out.write(strBuff.toString().getBytes()); - - // Ensure that our data is written imediatly - out.flush(); - - int tick=10000; - - int iref = Integer.parseInt(pref.value); - iref=iref*1000/tick; - sputtering.openShutter(iref); - - if(debug) System.out.println("iRef\n"+iref); - - if(debug) System.out.print("Starting real-time timer with "+tick+" us period..."); - int period= sputtering.shutterStartRealtime(tick); - if(debug) System.out.println("done. Effective period: "+period+" us."); - - while(sputtering.getTime() <= iref); - - if(debug) System.out.println("...done."); - - if(debug) System.out.print("Stoping real-time timer..."); - sputtering.shutterStopRealtime(); - if(debug) System.out.println("done."); - sputtering.unlock(); - } -} diff --git a/SputPIDWeb/Makefile b/SputPIDWeb/Makefile deleted file mode 100644 index 5e1b71c..0000000 --- a/SputPIDWeb/Makefile +++ /dev/null @@ -1,30 +0,0 @@ -DEPNAME:=-add HTTPSERVER -NATLIB:=-n sputtering.tlib - -all: SputPIDWeb.tini - -SputPIDWeb.class: SputPIDWeb.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $^ - -MotorHandler.class: MotorHandler.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $^ - -ResetHandler.class: ResetHandler.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $^ - -ShutterHandler.class: ShutterHandler.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $^ - - -SputPIDWeb.tini: SputPIDWeb.class MotorHandler.class ResetHandler.class ../lib/AIC.jar ShutterHandler.class - java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f ShutterHandler.class -f ResetHandler.class -f MotorHandler.class -f SputPIDWeb.class -o $@ ${LIBPATH} ${NATLIB} ${APIDBPATH} - -clean: - rm -f *.bak *~ *.class *.tlib - -distclean: clean - rm -f SputPIDWeb.tini - -upload: SputPIDWeb.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done - \ No newline at end of file diff --git a/SputPIDWeb/MotorHandler.java b/SputPIDWeb/MotorHandler.java deleted file mode 100644 index 290d5d5..0000000 --- a/SputPIDWeb/MotorHandler.java +++ /dev/null @@ -1,120 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Door Post Handler - - Copyright (C) 2006 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ -import br.ufrgs.ece.AIC.*; -import java.io.*; -import java.lang.*; -import java.util.*; -import com.dalsemi.tininet.http.*; -import com.dalsemi.system.*; -import com.dalsemi.tininet.*; - -public class MotorHandler extends SputPIDWeb implements PostScript -{ - /** - * This method handles all responses to the the HTTP POST - * - * @param data - a Vector of PostElements holding all supplied fields and Values in pairs - * @param out - an Output Stream to the client socket - * @param work - HTTPWorker contains utility functions used to URL encode our response - * @throws IOException if an IO error occurs - */ - public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException - { - while(sputtering.lock() == 0); - // Response page - - // HTML headers - - StringBuffer strBuff=new StringBuffer("\r\n" - + "\r\n" - + "Motor Control\r\n" - + "

Motor Sendo Posicionado... Aguarde

\r\n"); - - PostElement pref = (PostElement)data.elementAt(0); - - // Use HTTPWorker's encode body function to generate the URL encoded response - out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length())); - - // Send out the bytes of our response page - out.write(strBuff.toString().getBytes()); - - // Ensure that our data is written imediatly - out.flush(); - - - int iref = Integer.parseInt(pref.value); - float ref=iref*(float)Math.PI/180; - sputtering.setReference(ref); - - int tfms=10000; - - int tick=30000; - System.out.print("Starting real-time timer with "+tick+" us period..."); - int period= sputtering.pidStartRealtime(tick); - System.out.println("done. Effective period: "+period+" us."); - - - System.out.println("Running PID for "+tfms+" ms..."); - int t0=sputtering.getTime(); - int t=0; - int t1; - - System.gc(); - - try - { - long blockTime=2000; - System.out.println("Blocking time="+blockTime); - if(blockTime > 4) Thread.sleep(blockTime); - } - catch(Exception all) - { - all.printStackTrace(); - } - - try - { - while(t*tick/1000 <= tfms) - { - t1=sputtering.getTime(); - t=t1-t0; - System.out.print("t="+t*tick/1000+" ms"); - System.out.println("\treference="+ref+"\toutput="+sputtering.getOutput()); - } - } - catch(Exception all) - { - System.gc(); - } - System.out.println("...done."); - - System.out.print("Stoping real-time timer..."); - sputtering.pidStopRealtime(); - System.out.println("done."); - - sputtering.unlock(); - } -} diff --git a/SputPIDWeb/ResetHandler.java b/SputPIDWeb/ResetHandler.java deleted file mode 100644 index 5adc018..0000000 --- a/SputPIDWeb/ResetHandler.java +++ /dev/null @@ -1,68 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Door Post Handler - - Copyright (C) 2006 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ -import br.ufrgs.ece.AIC.*; -import java.io.*; -import java.lang.*; -import java.util.*; -import com.dalsemi.tininet.http.*; -import com.dalsemi.system.*; -import com.dalsemi.tininet.*; - -public class ResetHandler extends SputPIDWeb implements PostScript -{ - /** - * This method handles all responses to the the HTTP POST - * - * @param data - a Vector of PostElements holding all supplied fields and Values in pairs - * @param out - an Output Stream to the client socket - * @param work - HTTPWorker contains utility functions used to URL encode our response - * @throws IOException if an IO error occurs - */ - public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException - { - while(sputtering.lock() == 0); - - // HTML headers - StringBuffer strBuff=new StringBuffer("\r\n" - + "\r\n" - + "Reset Control\r\n" - + "

Motor Sendo Resetado... Aguarde

\r\n"); - - // Use HTTPWorker's encode body function to generate the URL encoded response - out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length())); - - // Send out the bytes of our response page - out.write(strBuff.toString().getBytes()); - - // Ensure that our data is written imediatly - out.flush(); - - System.out.println("Resetando Motor..."); - sputtering.findHome(); - System.out.println("done"); - sputtering.unlock(); - } -} diff --git a/SputPIDWeb/ShutterHandler.java b/SputPIDWeb/ShutterHandler.java deleted file mode 100644 index 096a109..0000000 --- a/SputPIDWeb/ShutterHandler.java +++ /dev/null @@ -1,83 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Door Post Handler - - Copyright (C) 2006 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ -import br.ufrgs.ece.AIC.*; -import java.io.*; -import java.lang.*; -import java.util.*; -import com.dalsemi.tininet.http.*; -import com.dalsemi.system.*; -import com.dalsemi.tininet.*; - -public class ShutterHandler extends SputPIDWeb implements PostScript -{ - /** - * This method handles all responses to the the HTTP POST - * - * @param data - a Vector of PostElements holding all supplied fields and Values in pairs - * @param out - an Output Stream to the client socket - * @param work - HTTPWorker contains utility functions used to URL encode our response - * @throws IOException if an IO error occurs - */ - public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException - { - while(sputtering.lock() == 0); - StringBuffer strBuff=new StringBuffer("\r\n" - + "\r\n" - + "Shutter Control\r\n" - + "

Schutter Aberto... Aguarde

\r\n"); - - PostElement pref = (PostElement)data.elementAt(0); - - // Use HTTPWorker's encode body function to generate the URL encoded response - out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length())); - - // Send out the bytes of our response page - out.write(strBuff.toString().getBytes()); - - // Ensure that our data is written imediatly - out.flush(); - - int us=10000; - int iref = Integer.parseInt(pref.value); - System.out.println("iref\n"+iref); - - iref=iref*1000/us; - sputtering.openShutter(iref); - - System.out.print("Starting real-time timer with "+us+" us period..."); - int period= sputtering.shutterStartRealtime(us); - System.out.println("done. Effective period: "+period+" us."); - - while(sputtering.getTime() <= iref); - - System.out.println("...done."); - - System.out.print("Stoping real-time timer..."); - sputtering.shutterStopRealtime(); - System.out.println("done."); - sputtering.unlock(); - } -} diff --git a/SputPIDWeb/SputPIDWeb.java b/SputPIDWeb/SputPIDWeb.java deleted file mode 100644 index 49284c2..0000000 --- a/SputPIDWeb/SputPIDWeb.java +++ /dev/null @@ -1,61 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Sputtering PID Web Server - Copyright (C) 2007 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import br.ufrgs.ece.AIC.*; -import com.dalsemi.tininet.http.HTTPServer; -import com.dalsemi.tininet.http.HTTPServerException; - -class SputPIDWeb -{ - static Sputtering sputtering; - - public static void main(String[] args) - { - System.out.println("Sputtering PID Web Server"); - System.out.println("Copyright (C) 2007 Walter Fetter Lages "); - System.out.println(" 2007 Diego Caberlon Santini .\n"); - - HTTPServer httpd=new HTTPServer(80); - httpd.setHTTPRoot("/html"); - httpd.setIndexPage("index.html"); - httpd.setLogging(false); - - System.out.println("Sputtering web server running..."); - - sputtering=new Sputtering(); - - while (true) - { - try - { - httpd.serviceRequests(); - } - catch (HTTPServerException e) - { - System.out.println("Error occured while serving requests: " + e.getMessage()); - } - } - } -} diff --git a/SputPIDWeb/frame.html b/SputPIDWeb/frame.html deleted file mode 100644 index 1552b42..0000000 --- a/SputPIDWeb/frame.html +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - -> - -<body> -</body> - - \ No newline at end of file diff --git a/SputPIDWeb/index.html b/SputPIDWeb/index.html deleted file mode 100644 index 608138c..0000000 --- a/SputPIDWeb/index.html +++ /dev/null @@ -1,15 +0,0 @@ - - - -Motor Control - - - - - -> - -<body> -</body> - - \ No newline at end of file diff --git a/SputPIDWeb/motor.html b/SputPIDWeb/motor.html deleted file mode 100644 index 21ff174..0000000 --- a/SputPIDWeb/motor.html +++ /dev/null @@ -1,31 +0,0 @@ - - - -Motor Control - - -
- -

Motor Control

-
-
- 0o degree -
- 60o degree -
- 120o degree -
- 180o degree -
- 240o degree -
- 300o degree -
-
- -
-
-
- - \ No newline at end of file diff --git a/SputPIDWeb/reset.html b/SputPIDWeb/reset.html deleted file mode 100644 index 042b378..0000000 --- a/SputPIDWeb/reset.html +++ /dev/null @@ -1,18 +0,0 @@ - - - -Motor Reset - - -
- -

Motor Reset

-
-
-
- -
-
- - \ No newline at end of file diff --git a/SputPIDWeb/shutter.html b/SputPIDWeb/shutter.html deleted file mode 100644 index c4c21dc..0000000 --- a/SputPIDWeb/shutter.html +++ /dev/null @@ -1,20 +0,0 @@ - - - -Shutter Open - - -
- -

Shutter Open

-
-
- - -
- -
-
- - \ No newline at end of file diff --git a/SputWeb/Makefile b/SputWeb/Makefile deleted file mode 100644 index 5dd9754..0000000 --- a/SputWeb/Makefile +++ /dev/null @@ -1,21 +0,0 @@ -DEPNAME:=-add HTTPSERVER - -all: SputWeb.tini - -SputWeb.class: SputWeb.java ../lib/AIC.jar - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $< - -SputHandler.class: SputHandler.java ../lib/AIC.jar - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} $< - -SputWeb.tini: SputWeb.class SputHandler.class ../lib/AIC.jar - java ${CLASSPATH} BuildDependency ${DEPNAME} ${DEPFILE} ${DEPPATH} -f SputHandler.class -f SputWeb.class -o $@ ${LIBPATH} ${NATLIB} ${APIDBPATH} - -clean: - rm -f *.bak *~ *.class - -distclean: clean - rm -f SputWeb.tini - -upload: SputWeb.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done \ No newline at end of file diff --git a/SputWeb/SputHandler.java b/SputWeb/SputHandler.java deleted file mode 100644 index f98ca3a..0000000 --- a/SputWeb/SputHandler.java +++ /dev/null @@ -1,93 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Sputtering Post Handler - - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ -import br.ufrgs.ece.AIC.*; -import java.io.*; -import java.lang.*; -import java.util.*; -import com.dalsemi.tininet.http.*; - -public class SputHandler implements PostScript -{ - static final int BASE=0x800000; - static AIC aic; - static boolean first=true; - - /** - * This method handles all responses to the the HTTP POST - * - * @param data - a Vector of PostElements holding all supplied fields and Values in pairs - * @param out - an Output Stream to the client socket - * @param work - HTTPWorker contains utility functions used to URL encode our response - * @throws IOException if an IO error occurs - */ - public void handlePost(Vector data,OutputStream out,HTTPWorker work) throws IOException - { - if(first) - { - aic=new AIC(BASE,24.0,20e3,2000); - aic.on(); - aic.brake.release(); - aic.motor.on(); - first=false; - } - - System.out.println("Handling POST Request"); - - PostElement pos = (PostElement)data.elementAt(0); - System.out.println("Position="+pos.value); - - PostElement volt = (PostElement)data.elementAt(1); - System.out.println("Voltage="+volt.value); - Float V=Float.valueOf(volt.value); - double v=V.doubleValue(); - - aic.motor.set(v); - - // Response page - - // HTML headers - StringBuffer strBuff=new StringBuffer("Sputtering Control\r\n" - + "

Sputtering Control

\r\n"); - - strBuff.append("Position set at "+pos.value+"\n"); - strBuff.append("Voltage set at "+volt.value+"\n"); - - - // HTML footers - strBuff.append("
"); - - // Use HTTPWorker's encode body function to generate the URL encoded response - out.write(work.encodeBody(HTTPServer.HTTP_OK,"OK",HTTPServer.MIME_TEXT_HTML,strBuff.length())); - - // Send out the bytes of our response page - out.write(strBuff.toString().getBytes()); - - // Ensure that our data is written imediatly - out.flush(); - - System.out.println("Finished handling POST request"); - } -} diff --git a/SputWeb/SputWeb.java b/SputWeb/SputWeb.java deleted file mode 100644 index b63203f..0000000 --- a/SputWeb/SputWeb.java +++ /dev/null @@ -1,58 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Sputtering Web Daemon - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import com.dalsemi.tininet.http.HTTPServer; -import com.dalsemi.tininet.http.HTTPServerException; - -class SputWeb -{ - static Object lock; - - public static void main(String[] args) - { - System.out.println("Sputtering Web Daemon"); - System.out.println("Copyright (C) 2005 Walter Fetter Lages .\n"); - - HTTPServer httpd=new HTTPServer(80); - httpd.setHTTPRoot("/html"); - httpd.setIndexPage("index.html"); - httpd.setLogFilename("log.txt"); - httpd.setLogging(true); - - System.out.println("Sputtering daemon running..."); - - while (true) - { - try - { - httpd.serviceRequests(); - } - catch (HTTPServerException e) - { - System.out.println("Error occured while servicing requests: " + e.getMessage()); - } - } - } -} diff --git a/SputWeb/index.html b/SputWeb/index.html deleted file mode 100644 index bbb5f51..0000000 --- a/SputWeb/index.html +++ /dev/null @@ -1,13 +0,0 @@ - - -Sputtering Control - - -

Sputtering Control

- -Position:
-Voltage:
- - - - diff --git a/StrobeTest/Makefile b/StrobeTest/Makefile deleted file mode 100644 index aea8cc7..0000000 --- a/StrobeTest/Makefile +++ /dev/null @@ -1,16 +0,0 @@ -all: StrobeTest.tini - -StrobeTest.class: StrobeTest.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} StrobeTest.java - -StrobeTest.tini: StrobeTest.class - java ${CLASSPATH} TINIConvertor -f StrobeTest.class ${APIDBPATH} -o StrobeTest.tini - -clean: - rm -f *.bak *~ StrobeTest.class - -distclean: clean - rm -f StrobeTest.tini - -upload: StrobeTest.tini - for i in ${AIC}; do echo put $^ | ftp $$i; done diff --git a/StrobeTest/StrobeTest.java b/StrobeTest/StrobeTest.java deleted file mode 100644 index 6af98e3..0000000 --- a/StrobeTest/StrobeTest.java +++ /dev/null @@ -1,73 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Strobe Test - Copyright (C) 2002, 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -import com.dalsemi.system.DataPort; -import com.dalsemi.system.IllegalAddressException; - -class StrobeTest -{ - static final int BASE = 0x800000; - static final int PWM = BASE+0x80000; - static final int ENCODER = BASE+0x90000; - static final int CONTROL = BASE+0xa0000; - - public static void main(String[] args) - { - DataPort pwm = new DataPort(PWM); - DataPort encoder = new DataPort(ENCODER); - DataPort control = new DataPort(CONTROL); - - pwm.setFIFOMode(true); - encoder.setFIFOMode(true); - control.setFIFOMode(true); - - pwm.setStretchCycles(DataPort.STRETCH10); - encoder.setStretchCycles(DataPort.STRETCH10); - control.setStretchCycles(DataPort.STRETCH10); - - try - { - int data=0; - - for(;;) - { - - pwm.write(data); - encoder.write(data); - control.write(data); - data=~data; - - pwm.read(); - encoder.read(); - control.read(); - - } - } - catch (IllegalAddressException iae) - { - iae.printStackTrace(); - } - } -} diff --git a/TODO b/TODO index 9de8f4e..86899e6 100644 --- a/TODO +++ b/TODO @@ -1,67 +1,9 @@ -- Reorganizar a estrutura de diretorios. +Por enquanto: -- Implementar todos os metodos da classe AIC em C. +1) testar o dsPIC. DONE! -- Utilizar RCCI/RCCL? +2) testar o freeRTOS. DONE! -- Verificar a maxima taxa possivel com CAN. Em Java T=14ms. - -- Verificar se e' vantagem implementar a classe HostCan em Assembly, ja' que -a API CAN e' opcional e implementada em Assembly. Eventualmente aproveitar a -biblioteca nativa da Dallas e chamar diretamente os metodos nativos. - -- Verificar a possibilidade de fazer um piggy-back para utilizar TINIM400. - -- Verificar a possibilidade de utilizar SNAP. - -- Eventualmente criar versao do IODaemon ou PID totalmente em Assembly ou em -C. - -- Verificar possivel memory leakage no programa jointtst. Apos algum tempo -executando o led do HD fica acendendo, indicando possivel uso de memoria -virtual. Ocorre no RTAI 24.x. Tambem ocorre no 3.x? - -- Passar a utilizar IPv6 - -- Alterar camada de aplicacao CAN para torna-la compativel com CanOpen. - -- Alterar protocolo de aplicacao UDP para implementar CAN over IP. - -- Comunicacao por TCP - -- Comunicacao por RS232 - -- Problemas de aquecimento - Trocar os reguladores de alimentacao por reguladores chaveados ou -instalar ventoinhas. - -- Implementar PID. - Implementado, falta testar. - -- Portar o Slush para Linux, pelo menos os utilitarios que nao possuem -equivalente, como o passwd - -- Portar o NFS para o TiniOS - Verificar implementacao existente. - -- Montar ambiente para desenvolvimento - -- Portar o Linux/RTAI (uClinux ?) - -- AIC versao 2.0.0 - TINIM400? - TSTICK400? - SNAP? - DIMMPC? - DSP? - ARM? - FPGA?, Virtex?, Nios? - USB? - FireWire? - Foundation Fieldbus? - Profibus? - I2C? - Compact-PCI? - PC-104? - Korebot (http://www.k-team.com)? +3) testar o dsPIC na AIC. DONE! +4) testar o freeRTOS na AIC. DONE! diff --git a/aicd/Makefile b/aicd/Makefile deleted file mode 100644 index eec006f..0000000 --- a/aicd/Makefile +++ /dev/null @@ -1,19 +0,0 @@ -all: aicd .runinfo - -aicd: aicd.cpp ../include/aicsim.h ../include/aichost.h ../lib/libaic.a - ${CXX} ${CMPFLAGS} -o aicd aicd.cpp ${LDFLAGS} - -../lib/libaic.a: - $(MAKE) -C ../lib - -clean: - rm -f *~ *.bak *.o - -install: - -distclean: clean - rm -f aicd .runinfo - -.runinfo: - echo "aicd:lxrt:./aicd;popall:" > .runinfo - diff --git a/aicd/aicd.cpp b/aicd/aicd.cpp deleted file mode 100644 index 8f44819..0000000 --- a/aicd/aicd.cpp +++ /dev/null @@ -1,246 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Host Interface Simulation - Copyright (C) 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include -#include -using namespace std; -#include -#include -#include - -#include -#include - -#include - -#include - -struct SEND_STATUS_ARGS -{ - double ST; - volatile int *run; - AIC_HOST *controller; - AIC_SIM *aic; -}; - -void *send_status(void *arg) -{ - struct SEND_STATUS_ARGS *ptr=(struct SEND_STATUS_ARGS *) arg; - -#ifdef REAL_TIME - unsigned long sstsk_name = nam2num("SEND_STATUS"); - struct sched_param sssched; - - sssched.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1; - if(sched_setscheduler(0,SCHED_FIFO, &sssched ) == -1 ) - { - cerr << "Error setting scheduler: " << strerror(errno) << "\n"; - pthread_exit(NULL); - } - - mlockall(MCL_CURRENT | MCL_FUTURE); - - RT_TASK *sstsk; - if(!(sstsk = rt_task_init(sstsk_name, 1, 0, 0))) - { - cerr << "Can't init send_sensor task\n"; - pthread_exit(NULL); - } - - int period = (int) nano2count((RTIME)(ptr->ST*1e9)); - - rt_make_hard_real_time(); - - rt_task_make_periodic(sstsk,rt_get_time()+period,period); -#endif - - while(*ptr->run) for(int i=-48;i < 48;i++) - { - -#ifdef REAL_TIME - rt_task_wait_period(); -#else - usleep(ptr->ST*1e6) -#endif - -/* if(ptr->controller->getstatus() & AIC_HOST::MOTOR_ON) - { - int index; - double disp=ptr->aic->encoder.read(&index); - ptr->controller->send_status(disp,index); - } -*/ - - int index; - double disp=ptr->aic->encoder.read(&index); - ptr->controller->send_status(disp,index); - } - - -#ifdef REAL_TIME - rt_make_soft_real_time(); - rt_task_delete(sstsk); - munlockall(); -#endif - pthread_exit(NULL); - return NULL; -} - -int main(int argc, char *argv[]) -{ - cout << "AIC Host Interface Simulation\n"; - cout << "Copyright (C) Walter Fetter Lages 2003.\n"; - - if((argc < 2) || (argc > 4) || - ((argc >= 3) && strcasecmp(argv[1],"-UDP"))) - { - cout << "USAGE:\t" << argv[0] << " can_id\n"; - cout << "\tor\n\t" << argv[0] << " -UDP controller [command_port]\n"; - return -1; - } - - - const double ST=0.1; - - AIC_SIM aic; - AIC_HOST *controller; - - switch(argc) - { - default: - case 2: controller=new AIC_HOST_CAN(atoi(argv[1])); break; - case 3: controller=new AIC_HOST_UDP(argv[2]); break; - case 4: controller=new AIC_HOST_UDP(argv[2],STATUS_PORT,atoi(argv[3])); break; - } - -#ifdef REAL_TIME - unsigned long maintsk_name = nam2num("AICD"); - struct sched_param mainsched; - - rt_allow_nonroot_hrt(); - - mainsched.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1; - if(sched_setscheduler(0,SCHED_FIFO, &mainsched ) == -1 ) - { - cerr << "Error setting scheduler: " << strerror(errno) << "\n"; - return -1; - } - - mlockall(MCL_CURRENT | MCL_FUTURE); - - RT_TASK *maintsk; - if(!(maintsk = rt_task_init(maintsk_name, 1, 0, 0))) - { - cerr << "Can't init aicd task\n"; - return -1; - } - - rt_set_oneshot_mode(); - int period = (int) nano2count((RTIME)(ST*1e9)); - start_rt_timer(period); - - rt_make_hard_real_time(); - - rt_task_make_periodic(maintsk,rt_get_time()+period,period); -#endif - - volatile int run=1; - - pthread_t send_status_th; - struct SEND_STATUS_ARGS ssargs; - ssargs.ST=ST; - ssargs.run=&run; - ssargs.controller= controller; - ssargs.aic=&aic; - - pthread_create(&send_status_th,NULL,&send_status,&ssargs); - - - for(int k=0;run;k++) - { -#ifdef VERBOSE - cout << "k=" << k << "\t"; -#endif - - int cmd=controller->command(); - switch(cmd) - { - case AIC_MOTOR_ON: - { - aic.motor.on(); - break; - } - case AIC_MOTOR_OFF: - { - run=0; - aic.motor.off(); - break; - } - case AIC_MOTOR_ACT: - { - aic.motor=controller->voltage(); - break; - } - case AIC_BRAKE_RELEASE: - { - aic.brake.release(); - break; - } - case AIC_BRAKE_APPLY: - { - aic.brake.apply(); - break; - } - case AIC_RESET: - { - cout << "AIC Reset\t"; -// aic.reset(); - break; - } - default: - { - cerr << "Controller command \"" << (char) cmd << "\" unknown by aicd, shutting down\n"; - run=0; - } - } -#ifdef VERBOSE - cout << "\n"; -#endif - - } - pthread_join(send_status_th,NULL); - aic.motor.off(); - delete controller; - cout << "\n"; - -#ifdef REAL_TIME - rt_make_soft_real_time(); - stop_rt_timer(); - rt_task_delete(maintsk); -#endif - - return 0; -} - diff --git a/braketst/Makefile b/braketst/Makefile deleted file mode 100644 index 454046c..0000000 --- a/braketst/Makefile +++ /dev/null @@ -1,12 +0,0 @@ -all: braketst - -braketst: braketst.cpp ../lib/libaic.a - ${CXX} ${CMPFLAGS} -o braketst braketst.cpp ${LDFLAGS} - -clean: - rm -f *~ *.bak *.o - -install: - -distclean: clean - rm -f braketst diff --git a/braketst/braketst.cpp b/braketst/braketst.cpp deleted file mode 100644 index 376f77e..0000000 --- a/braketst/braketst.cpp +++ /dev/null @@ -1,82 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Brake Test - Copyright (C) 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include -using namespace std; -#include - -#include - -#include -#include - -const int ST=1000; - -int main(int argc,char *argv[]) -{ - cout << "\nAIC Brake Test Program\n"; - cout << "Copyright (C) 2003 Walter Fetter Lages .\n\n"; - - if((argc < 2) || (argc > 4) || - ((argc >= 3) && strcasecmp(argv[1],"-UDP"))) - { - cout << "USAGE:\t" << argv[0] << " can_id\n"; - cout << "\tor\n\t" << argv[0] << " -UDP aic [status_port]\n"; - return -1; - } - - AIC *aic; - switch(argc) - { - default: - case 2: aic=new AIC_CAN(atoi(argv[1])); break; - case 3: aic=new AIC_UDP(argv[2]); break; - case 4: aic=new AIC_UDP(argv[2],atoi(argv[3])); break; - } - - int apply=0; - for(int i=0;;i++) - { - if(apply) - { - aic->brake.apply(); - cout << "Brake Applied\t\n"; - } - else - { - aic->brake.release(); - cout << "Brake Released\t\n"; - } - apply=~apply; - delay(ST); - } - - aic->brake.apply(); - - delete aic; - - return 0; - -} diff --git a/doc/Doxyfile b/doc/Doxyfile deleted file mode 100644 index aacbd6b..0000000 --- a/doc/Doxyfile +++ /dev/null @@ -1,1145 +0,0 @@ -# Doxyfile 1.3.7 - -# This file describes the settings to be used by the documentation system -# doxygen (www.doxygen.org) for a project -# -# All text after a hash (#) is considered a comment and will be ignored -# The format is: -# TAG = value [value, ...] -# For lists items can also be appended using: -# TAG += value [value, ...] -# Values that contain spaces should be placed between quotes (" ") - -#--------------------------------------------------------------------------- -# Project related configuration options -#--------------------------------------------------------------------------- - -# The PROJECT_NAME tag is a single word (or a sequence of words surrounded -# by quotes) that should identify the project. - -PROJECT_NAME = "Actuator Interface Card" - -# The PROJECT_NUMBER tag can be used to enter a project or revision number. -# This could be handy for archiving the generated documentation or -# if some version control system is used. - -PROJECT_NUMBER = "1.5.1" - -# The OUTPUT_DIRECTORY tag is used to specify the (relative or absolute) -# base path where the generated documentation will be put. -# If a relative path is entered, it will be relative to the location -# where doxygen was started. If left blank the current directory will be used. - -OUTPUT_DIRECTORY = . - -# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create -# 2 levels of 10 sub-directories under the output directory of each output -# format and will distribute the generated files over these directories. -# Enabling this option can be useful when feeding doxygen a huge amount of source -# files, where putting all generated files in the same directory would otherwise -# cause performance problems for the file system. - -CREATE_SUBDIRS = NO - -# The OUTPUT_LANGUAGE tag is used to specify the language in which all -# documentation generated by doxygen is written. Doxygen will use this -# information to generate all constant output in the proper language. -# The default language is English, other supported languages are: -# Brazilian, Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, Dutch, -# Finnish, French, German, Greek, Hungarian, Italian, Japanese, Japanese-en -# (Japanese with English messages), Korean, Korean-en, Norwegian, Polish, Portuguese, -# Romanian, Russian, Serbian, Slovak, Slovene, Spanish, Swedish, and Ukrainian. - -OUTPUT_LANGUAGE = English - -# This tag can be used to specify the encoding used in the generated output. -# The encoding is not always determined by the language that is chosen, -# but also whether or not the output is meant for Windows or non-Windows users. -# In case there is a difference, setting the USE_WINDOWS_ENCODING tag to YES -# forces the Windows encoding (this is the default for the Windows binary), -# whereas setting the tag to NO uses a Unix-style encoding (the default for -# all platforms other than Windows). - -USE_WINDOWS_ENCODING = NO - -# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will -# include brief member descriptions after the members that are listed in -# the file and class documentation (similar to JavaDoc). -# Set to NO to disable this. - -BRIEF_MEMBER_DESC = YES - -# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend -# the brief description of a member or function before the detailed description. -# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the -# brief descriptions will be completely suppressed. - -REPEAT_BRIEF = YES - -# This tag implements a quasi-intelligent brief description abbreviator -# that is used to form the text in various listings. Each string -# in this list, if found as the leading text of the brief description, will be -# stripped from the text and the result after processing the whole list, is used -# as the annotated text. Otherwise, the brief description is used as-is. If left -# blank, the following values are used ("$name" is automatically replaced with the -# name of the entity): "The $name class" "The $name widget" "The $name file" -# "is" "provides" "specifies" "contains" "represents" "a" "an" "the" - -ABBREVIATE_BRIEF = - -# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then -# Doxygen will generate a detailed section even if there is only a brief -# description. - -ALWAYS_DETAILED_SEC = NO - -# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all inherited -# members of a class in the documentation of that class as if those members were -# ordinary class members. Constructors, destructors and assignment operators of -# the base classes will not be shown. - -INLINE_INHERITED_MEMB = NO - -# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full -# path before files name in the file list and in the header files. If set -# to NO the shortest path that makes the file name unique will be used. - -FULL_PATH_NAMES = NO - -# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag -# can be used to strip a user-defined part of the path. Stripping is -# only done if one of the specified strings matches the left-hand part of -# the path. The tag can be used to show relative paths in the file list. -# If left blank the directory from which doxygen is run is used as the -# path to strip. - -STRIP_FROM_PATH = .. - -# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of -# the path mentioned in the documentation of a class, which tells -# the reader which header file to include in order to use a class. -# If left blank only the name of the header file containing the class -# definition is used. Otherwise one should specify the include paths that -# are normally passed to the compiler using the -I flag. - -STRIP_FROM_INC_PATH = - -# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter -# (but less readable) file names. This can be useful is your file systems -# doesn't support long names like on DOS, Mac, or CD-ROM. - -SHORT_NAMES = NO - -# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen -# will interpret the first line (until the first dot) of a JavaDoc-style -# comment as the brief description. If set to NO, the JavaDoc -# comments will behave just like the Qt-style comments (thus requiring an -# explicit @brief command for a brief description. - -JAVADOC_AUTOBRIEF = YES - -# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen -# treat a multi-line C++ special comment block (i.e. a block of //! or /// -# comments) as a brief description. This used to be the default behaviour. -# The new default is to treat a multi-line C++ comment block as a detailed -# description. Set this tag to YES if you prefer the old behaviour instead. - -MULTILINE_CPP_IS_BRIEF = NO - -# If the DETAILS_AT_TOP tag is set to YES then Doxygen -# will output the detailed description near the top, like JavaDoc. -# If set to NO, the detailed description appears after the member -# documentation. - -DETAILS_AT_TOP = YES - -# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented -# member inherits the documentation from any documented member that it -# re-implements. - -INHERIT_DOCS = YES - -# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC -# tag is set to YES, then doxygen will reuse the documentation of the first -# member in the group (if any) for the other members of the group. By default -# all members of a group must be documented explicitly. - -DISTRIBUTE_GROUP_DOC = YES - -# The TAB_SIZE tag can be used to set the number of spaces in a tab. -# Doxygen uses this value to replace tabs by spaces in code fragments. - -TAB_SIZE = 8 - -# This tag can be used to specify a number of aliases that acts -# as commands in the documentation. An alias has the form "name=value". -# For example adding "sideeffect=\par Side Effects:\n" will allow you to -# put the command \sideeffect (or @sideeffect) in the documentation, which -# will result in a user-defined paragraph with heading "Side Effects:". -# You can put \n's in the value part of an alias to insert newlines. - -ALIASES = - -# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources -# only. Doxygen will then generate output that is more tailored for C. -# For instance, some of the names that are used will be different. The list -# of all members will be omitted, etc. - -OPTIMIZE_OUTPUT_FOR_C = NO - -# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java sources -# only. Doxygen will then generate output that is more tailored for Java. -# For instance, namespaces will be presented as packages, qualified scopes -# will look different, etc. - -OPTIMIZE_OUTPUT_JAVA = NO - -# Set the SUBGROUPING tag to YES (the default) to allow class member groups of -# the same type (for instance a group of public functions) to be put as a -# subgroup of that type (e.g. under the Public Functions section). Set it to -# NO to prevent subgrouping. Alternatively, this can be done per class using -# the \nosubgrouping command. - -SUBGROUPING = YES - -#--------------------------------------------------------------------------- -# Build related configuration options -#--------------------------------------------------------------------------- - -# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in -# documentation are documented, even if no documentation was available. -# Private class members and static file members will be hidden unless -# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES - -EXTRACT_ALL = NO - -# If the EXTRACT_PRIVATE tag is set to YES all private members of a class -# will be included in the documentation. - -EXTRACT_PRIVATE = NO - -# If the EXTRACT_STATIC tag is set to YES all static members of a file -# will be included in the documentation. - -EXTRACT_STATIC = NO - -# If the EXTRACT_LOCAL_CLASSES tag is set to YES classes (and structs) -# defined locally in source files will be included in the documentation. -# If set to NO only classes defined in header files are included. - -EXTRACT_LOCAL_CLASSES = YES - -# This flag is only useful for Objective-C code. When set to YES local -# methods, which are defined in the implementation section but not in -# the interface are included in the documentation. -# If set to NO (the default) only methods in the interface are included. - -EXTRACT_LOCAL_METHODS = YES - -# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all -# undocumented members of documented classes, files or namespaces. -# If set to NO (the default) these members will be included in the -# various overviews, but no documentation section is generated. -# This option has no effect if EXTRACT_ALL is enabled. - -HIDE_UNDOC_MEMBERS = NO - -# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all -# undocumented classes that are normally visible in the class hierarchy. -# If set to NO (the default) these classes will be included in the various -# overviews. This option has no effect if EXTRACT_ALL is enabled. - -HIDE_UNDOC_CLASSES = NO - -# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all -# friend (class|struct|union) declarations. -# If set to NO (the default) these declarations will be included in the -# documentation. - -HIDE_FRIEND_COMPOUNDS = NO - -# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any -# documentation blocks found inside the body of a function. -# If set to NO (the default) these blocks will be appended to the -# function's detailed documentation block. - -HIDE_IN_BODY_DOCS = NO - -# The INTERNAL_DOCS tag determines if documentation -# that is typed after a \internal command is included. If the tag is set -# to NO (the default) then the documentation will be excluded. -# Set it to YES to include the internal documentation. - -INTERNAL_DOCS = NO - -# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate -# file names in lower-case letters. If set to YES upper-case letters are also -# allowed. This is useful if you have classes or files whose names only differ -# in case and if your file system supports case sensitive file names. Windows -# users are advised to set this option to NO. - -CASE_SENSE_NAMES = YES - -# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen -# will show members with their full class and namespace scopes in the -# documentation. If set to YES the scope will be hidden. - -HIDE_SCOPE_NAMES = NO - -# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen -# will put a list of the files that are included by a file in the documentation -# of that file. - -SHOW_INCLUDE_FILES = YES - -# If the INLINE_INFO tag is set to YES (the default) then a tag [inline] -# is inserted in the documentation for inline members. - -INLINE_INFO = YES - -# If the SORT_MEMBER_DOCS tag is set to YES (the default) then doxygen -# will sort the (detailed) documentation of file and class members -# alphabetically by member name. If set to NO the members will appear in -# declaration order. - -SORT_MEMBER_DOCS = YES - -# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the -# brief documentation of file, namespace and class members alphabetically -# by member name. If set to NO (the default) the members will appear in -# declaration order. - -SORT_BRIEF_DOCS = NO - -# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be -# sorted by fully-qualified names, including namespaces. If set to -# NO (the default), the class list will be sorted only by class name, -# not including the namespace part. -# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. -# Note: This option applies only to the class list, not to the -# alphabetical list. - -SORT_BY_SCOPE_NAME = YES - -# The GENERATE_TODOLIST tag can be used to enable (YES) or -# disable (NO) the todo list. This list is created by putting \todo -# commands in the documentation. - -GENERATE_TODOLIST = YES - -# The GENERATE_TESTLIST tag can be used to enable (YES) or -# disable (NO) the test list. This list is created by putting \test -# commands in the documentation. - -GENERATE_TESTLIST = YES - -# The GENERATE_BUGLIST tag can be used to enable (YES) or -# disable (NO) the bug list. This list is created by putting \bug -# commands in the documentation. - -GENERATE_BUGLIST = YES - -# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or -# disable (NO) the deprecated list. This list is created by putting -# \deprecated commands in the documentation. - -GENERATE_DEPRECATEDLIST= YES - -# The ENABLED_SECTIONS tag can be used to enable conditional -# documentation sections, marked by \if sectionname ... \endif. - -ENABLED_SECTIONS = - -# The MAX_INITIALIZER_LINES tag determines the maximum number of lines -# the initial value of a variable or define consists of for it to appear in -# the documentation. If the initializer consists of more lines than specified -# here it will be hidden. Use a value of 0 to hide initializers completely. -# The appearance of the initializer of individual variables and defines in the -# documentation can be controlled using \showinitializer or \hideinitializer -# command in the documentation regardless of this setting. - -MAX_INITIALIZER_LINES = 30 - -# Set the SHOW_USED_FILES tag to NO to disable the list of files generated -# at the bottom of the documentation of classes and structs. If set to YES the -# list will mention the files that were used to generate the documentation. - -SHOW_USED_FILES = YES - -#--------------------------------------------------------------------------- -# configuration options related to warning and progress messages -#--------------------------------------------------------------------------- - -# The QUIET tag can be used to turn on/off the messages that are generated -# by doxygen. Possible values are YES and NO. If left blank NO is used. - -QUIET = NO - -# The WARNINGS tag can be used to turn on/off the warning messages that are -# generated by doxygen. Possible values are YES and NO. If left blank -# NO is used. - -WARNINGS = YES - -# If WARN_IF_UNDOCUMENTED is set to YES, then doxygen will generate warnings -# for undocumented members. If EXTRACT_ALL is set to YES then this flag will -# automatically be disabled. - -WARN_IF_UNDOCUMENTED = YES - -# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for -# potential errors in the documentation, such as not documenting some -# parameters in a documented function, or documenting parameters that -# don't exist or using markup commands wrongly. - -WARN_IF_DOC_ERROR = YES - -# The WARN_FORMAT tag determines the format of the warning messages that -# doxygen can produce. The string should contain the $file, $line, and $text -# tags, which will be replaced by the file and line number from which the -# warning originated and the warning text. - -WARN_FORMAT = "$file:$line: $text" - -# The WARN_LOGFILE tag can be used to specify a file to which warning -# and error messages should be written. If left blank the output is written -# to stderr. - -WARN_LOGFILE = - -#--------------------------------------------------------------------------- -# configuration options related to the input files -#--------------------------------------------------------------------------- - -# The INPUT tag can be used to specify the files and/or directories that contain -# documented source files. You may enter file names like "myfile.cpp" or -# directories like "/usr/src/myproject". Separate the files or directories -# with spaces. - -INPUT = . \ - ../include \ - ../lib - - -# If the value of the INPUT tag contains directories, you can use the -# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left -# blank the following patterns are tested: -# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx *.hpp -# *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm - -FILE_PATTERNS = *.dox *.h *.inc *.java - -# The RECURSIVE tag can be used to turn specify whether or not subdirectories -# should be searched for input files as well. Possible values are YES and NO. -# If left blank NO is used. - -RECURSIVE = YES - -# The EXCLUDE tag can be used to specify files and/or directories that should -# excluded from the INPUT source files. This way you can easily exclude a -# subdirectory from a directory tree whose root is specified with the INPUT tag. - -EXCLUDE = - -# The EXCLUDE_SYMLINKS tag can be used select whether or not files or directories -# that are symbolic links (a Unix filesystem feature) are excluded from the input. - -EXCLUDE_SYMLINKS = NO - -# If the value of the INPUT tag contains directories, you can use the -# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. - -EXCLUDE_PATTERNS = - -# The EXAMPLE_PATH tag can be used to specify one or more files or -# directories that contain example code fragments that are included (see -# the \include command). - -EXAMPLE_PATH = - -# If the value of the EXAMPLE_PATH tag contains directories, you can use the -# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp -# and *.h) to filter out the source-files in the directories. If left -# blank all files are included. - -EXAMPLE_PATTERNS = - -# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be -# searched for input files to be used with the \include or \dontinclude -# commands irrespective of the value of the RECURSIVE tag. -# Possible values are YES and NO. If left blank NO is used. - -EXAMPLE_RECURSIVE = NO - -# The IMAGE_PATH tag can be used to specify one or more files or -# directories that contain image that are included in the documentation (see -# the \image command). - -IMAGE_PATH = - -# The INPUT_FILTER tag can be used to specify a program that doxygen should -# invoke to filter for each input file. Doxygen will invoke the filter program -# by executing (via popen()) the command , where -# is the value of the INPUT_FILTER tag, and is the name of an -# input file. Doxygen will then use the output that the filter program writes -# to standard output. - -INPUT_FILTER = - -# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using -# INPUT_FILTER) will be used to filter the input files when producing source -# files to browse (i.e. when SOURCE_BROWSER is set to YES). - -FILTER_SOURCE_FILES = NO - -#--------------------------------------------------------------------------- -# configuration options related to source browsing -#--------------------------------------------------------------------------- - -# If the SOURCE_BROWSER tag is set to YES then a list of source files will -# be generated. Documented entities will be cross-referenced with these sources. -# Note: To get rid of all source code in the generated output, make sure also -# VERBATIM_HEADERS is set to NO. - -SOURCE_BROWSER = NO - -# Setting the INLINE_SOURCES tag to YES will include the body -# of functions and classes directly in the documentation. - -INLINE_SOURCES = NO - -# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct -# doxygen to hide any special comment blocks from generated source code -# fragments. Normal C and C++ comments will always remain visible. - -STRIP_CODE_COMMENTS = YES - -# If the REFERENCED_BY_RELATION tag is set to YES (the default) -# then for each documented function all documented -# functions referencing it will be listed. - -REFERENCED_BY_RELATION = YES - -# If the REFERENCES_RELATION tag is set to YES (the default) -# then for each documented function all documented entities -# called/used by that function will be listed. - -REFERENCES_RELATION = YES - -# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen -# will generate a verbatim copy of the header file for each class for -# which an include is specified. Set to NO to disable this. - -VERBATIM_HEADERS = NO - -#--------------------------------------------------------------------------- -# configuration options related to the alphabetical class index -#--------------------------------------------------------------------------- - -# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index -# of all compounds will be generated. Enable this if the project -# contains a lot of classes, structs, unions or interfaces. - -ALPHABETICAL_INDEX = NO - -# If the alphabetical index is enabled (see ALPHABETICAL_INDEX) then -# the COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns -# in which this list will be split (can be a number in the range [1..20]) - -COLS_IN_ALPHA_INDEX = 5 - -# In case all classes in a project start with a common prefix, all -# classes will be put under the same header in the alphabetical index. -# The IGNORE_PREFIX tag can be used to specify one or more prefixes that -# should be ignored while generating the index headers. - -IGNORE_PREFIX = - -#--------------------------------------------------------------------------- -# configuration options related to the HTML output -#--------------------------------------------------------------------------- - -# If the GENERATE_HTML tag is set to YES (the default) Doxygen will -# generate HTML output. - -GENERATE_HTML = YES - -# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `html' will be used as the default path. - -HTML_OUTPUT = html - -# The HTML_FILE_EXTENSION tag can be used to specify the file extension for -# each generated HTML page (for example: .htm,.php,.asp). If it is left blank -# doxygen will generate files with .html extension. - -HTML_FILE_EXTENSION = .html - -# The HTML_HEADER tag can be used to specify a personal HTML header for -# each generated HTML page. If it is left blank doxygen will generate a -# standard header. - -HTML_HEADER = - -# The HTML_FOOTER tag can be used to specify a personal HTML footer for -# each generated HTML page. If it is left blank doxygen will generate a -# standard footer. - -HTML_FOOTER = - -# The HTML_STYLESHEET tag can be used to specify a user-defined cascading -# style sheet that is used by each HTML page. It can be used to -# fine-tune the look of the HTML output. If the tag is left blank doxygen -# will generate a default style sheet. Note that doxygen will try to copy -# the style sheet file to the HTML output directory, so don't put your own -# stylesheet in the HTML output directory as well, or it will be erased! - -HTML_STYLESHEET = - -# If the HTML_ALIGN_MEMBERS tag is set to YES, the members of classes, -# files or namespaces will be aligned in HTML using tables. If set to -# NO a bullet list will be used. - -HTML_ALIGN_MEMBERS = YES - -# If the GENERATE_HTMLHELP tag is set to YES, additional index files -# will be generated that can be used as input for tools like the -# Microsoft HTML help workshop to generate a compressed HTML help file (.chm) -# of the generated HTML documentation. - -GENERATE_HTMLHELP = NO - -# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can -# be used to specify the file name of the resulting .chm file. You -# can add a path in front of the file if the result should not be -# written to the html output directory. - -CHM_FILE = - -# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can -# be used to specify the location (absolute path including file name) of -# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run -# the HTML help compiler on the generated index.hhp. - -HHC_LOCATION = - -# If the GENERATE_HTMLHELP tag is set to YES, the GENERATE_CHI flag -# controls if a separate .chi index file is generated (YES) or that -# it should be included in the master .chm file (NO). - -GENERATE_CHI = NO - -# If the GENERATE_HTMLHELP tag is set to YES, the BINARY_TOC flag -# controls whether a binary table of contents is generated (YES) or a -# normal table of contents (NO) in the .chm file. - -BINARY_TOC = NO - -# The TOC_EXPAND flag can be set to YES to add extra items for group members -# to the contents of the HTML help documentation and to the tree view. - -TOC_EXPAND = NO - -# The DISABLE_INDEX tag can be used to turn on/off the condensed index at -# top of each HTML page. The value NO (the default) enables the index and -# the value YES disables it. - -DISABLE_INDEX = NO - -# This tag can be used to set the number of enum values (range [1..20]) -# that doxygen will group on one line in the generated HTML documentation. - -ENUM_VALUES_PER_LINE = 4 - -# If the GENERATE_TREEVIEW tag is set to YES, a side panel will be -# generated containing a tree-like index structure (just like the one that -# is generated for HTML Help). For this to work a browser that supports -# JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+, -# Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are -# probably better off using the HTML help feature. - -GENERATE_TREEVIEW = YES - -# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be -# used to set the initial width (in pixels) of the frame in which the tree -# is shown. - -TREEVIEW_WIDTH = 250 - -#--------------------------------------------------------------------------- -# configuration options related to the LaTeX output -#--------------------------------------------------------------------------- - -# If the GENERATE_LATEX tag is set to YES (the default) Doxygen will -# generate Latex output. - -GENERATE_LATEX = NO - -# The LATEX_OUTPUT tag is used to specify where the LaTeX docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `latex' will be used as the default path. - -LATEX_OUTPUT = latex - -# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be -# invoked. If left blank `latex' will be used as the default command name. - -LATEX_CMD_NAME = latex - -# The MAKEINDEX_CMD_NAME tag can be used to specify the command name to -# generate index for LaTeX. If left blank `makeindex' will be used as the -# default command name. - -MAKEINDEX_CMD_NAME = makeindex - -# If the COMPACT_LATEX tag is set to YES Doxygen generates more compact -# LaTeX documents. This may be useful for small projects and may help to -# save some trees in general. - -COMPACT_LATEX = NO - -# The PAPER_TYPE tag can be used to set the paper type that is used -# by the printer. Possible values are: a4, a4wide, letter, legal and -# executive. If left blank a4wide will be used. - -PAPER_TYPE = a4wide - -# The EXTRA_PACKAGES tag can be to specify one or more names of LaTeX -# packages that should be included in the LaTeX output. - -EXTRA_PACKAGES = - -# The LATEX_HEADER tag can be used to specify a personal LaTeX header for -# the generated latex document. The header should contain everything until -# the first chapter. If it is left blank doxygen will generate a -# standard header. Notice: only use this tag if you know what you are doing! - -LATEX_HEADER = - -# If the PDF_HYPERLINKS tag is set to YES, the LaTeX that is generated -# is prepared for conversion to pdf (using ps2pdf). The pdf file will -# contain links (just like the HTML output) instead of page references -# This makes the output suitable for online browsing using a pdf viewer. - -PDF_HYPERLINKS = YES - -# If the USE_PDFLATEX tag is set to YES, pdflatex will be used instead of -# plain latex in the generated Makefile. Set this option to YES to get a -# higher quality PDF documentation. - -USE_PDFLATEX = YES - -# If the LATEX_BATCHMODE tag is set to YES, doxygen will add the \\batchmode. -# command to the generated LaTeX files. This will instruct LaTeX to keep -# running if errors occur, instead of asking the user for help. -# This option is also used when generating formulas in HTML. - -LATEX_BATCHMODE = YES - -# If LATEX_HIDE_INDICES is set to YES then doxygen will not -# include the index chapters (such as File Index, Compound Index, etc.) -# in the output. - -LATEX_HIDE_INDICES = NO - -#--------------------------------------------------------------------------- -# configuration options related to the RTF output -#--------------------------------------------------------------------------- - -# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output -# The RTF output is optimized for Word 97 and may not look very pretty with -# other RTF readers or editors. - -GENERATE_RTF = NO - -# The RTF_OUTPUT tag is used to specify where the RTF docs will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `rtf' will be used as the default path. - -RTF_OUTPUT = rtf - -# If the COMPACT_RTF tag is set to YES Doxygen generates more compact -# RTF documents. This may be useful for small projects and may help to -# save some trees in general. - -COMPACT_RTF = NO - -# If the RTF_HYPERLINKS tag is set to YES, the RTF that is generated -# will contain hyperlink fields. The RTF file will -# contain links (just like the HTML output) instead of page references. -# This makes the output suitable for online browsing using WORD or other -# programs which support those fields. -# Note: wordpad (write) and others do not support links. - -RTF_HYPERLINKS = NO - -# Load stylesheet definitions from file. Syntax is similar to doxygen's -# config file, i.e. a series of assignments. You only have to provide -# replacements, missing definitions are set to their default value. - -RTF_STYLESHEET_FILE = - -# Set optional variables used in the generation of an rtf document. -# Syntax is similar to doxygen's config file. - -RTF_EXTENSIONS_FILE = - -#--------------------------------------------------------------------------- -# configuration options related to the man page output -#--------------------------------------------------------------------------- - -# If the GENERATE_MAN tag is set to YES (the default) Doxygen will -# generate man pages - -GENERATE_MAN = NO - -# The MAN_OUTPUT tag is used to specify where the man pages will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `man' will be used as the default path. - -MAN_OUTPUT = man - -# The MAN_EXTENSION tag determines the extension that is added to -# the generated man pages (default is the subroutine's section .3) - -MAN_EXTENSION = .3 - -# If the MAN_LINKS tag is set to YES and Doxygen generates man output, -# then it will generate one additional man file for each entity -# documented in the real man page(s). These additional files -# only source the real man page, but without them the man command -# would be unable to find the correct page. The default is NO. - -MAN_LINKS = NO - -#--------------------------------------------------------------------------- -# configuration options related to the XML output -#--------------------------------------------------------------------------- - -# If the GENERATE_XML tag is set to YES Doxygen will -# generate an XML file that captures the structure of -# the code including all documentation. - -GENERATE_XML = NO - -# The XML_OUTPUT tag is used to specify where the XML pages will be put. -# If a relative path is entered the value of OUTPUT_DIRECTORY will be -# put in front of it. If left blank `xml' will be used as the default path. - -XML_OUTPUT = xml - -# The XML_SCHEMA tag can be used to specify an XML schema, -# which can be used by a validating XML parser to check the -# syntax of the XML files. - -XML_SCHEMA = - -# The XML_DTD tag can be used to specify an XML DTD, -# which can be used by a validating XML parser to check the -# syntax of the XML files. - -XML_DTD = - -# If the XML_PROGRAMLISTING tag is set to YES Doxygen will -# dump the program listings (including syntax highlighting -# and cross-referencing information) to the XML output. Note that -# enabling this will significantly increase the size of the XML output. - -XML_PROGRAMLISTING = YES - -#--------------------------------------------------------------------------- -# configuration options for the AutoGen Definitions output -#--------------------------------------------------------------------------- - -# If the GENERATE_AUTOGEN_DEF tag is set to YES Doxygen will -# generate an AutoGen Definitions (see autogen.sf.net) file -# that captures the structure of the code including all -# documentation. Note that this feature is still experimental -# and incomplete at the moment. - -GENERATE_AUTOGEN_DEF = NO - -#--------------------------------------------------------------------------- -# configuration options related to the Perl module output -#--------------------------------------------------------------------------- - -# If the GENERATE_PERLMOD tag is set to YES Doxygen will -# generate a Perl module file that captures the structure of -# the code including all documentation. Note that this -# feature is still experimental and incomplete at the -# moment. - -GENERATE_PERLMOD = NO - -# If the PERLMOD_LATEX tag is set to YES Doxygen will generate -# the necessary Makefile rules, Perl scripts and LaTeX code to be able -# to generate PDF and DVI output from the Perl module output. - -PERLMOD_LATEX = NO - -# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be -# nicely formatted so it can be parsed by a human reader. This is useful -# if you want to understand what is going on. On the other hand, if this -# tag is set to NO the size of the Perl module output will be much smaller -# and Perl will parse it just the same. - -PERLMOD_PRETTY = YES - -# The names of the make variables in the generated doxyrules.make file -# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. -# This is useful so different doxyrules.make files included by the same -# Makefile don't overwrite each other's variables. - -PERLMOD_MAKEVAR_PREFIX = - -#--------------------------------------------------------------------------- -# Configuration options related to the preprocessor -#--------------------------------------------------------------------------- - -# If the ENABLE_PREPROCESSING tag is set to YES (the default) Doxygen will -# evaluate all C-preprocessor directives found in the sources and include -# files. - -ENABLE_PREPROCESSING = YES - -# If the MACRO_EXPANSION tag is set to YES Doxygen will expand all macro -# names in the source code. 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If set to NO the values of all tags below this one will be ignored. - -SEARCHENGINE = YES diff --git a/doc/Makefile b/doc/Makefile index 80b1848..3ef4b1b 100644 --- a/doc/Makefile +++ b/doc/Makefile @@ -1,118 +1,84 @@ -SCHEMS=aictini.sch aicpower.sch aicconn.sch +GEDA_PATH=/usr/share/gEDA/scheme +FILES=aicpic.sch aicpower.sch -all: doc pcb bom html +all: pdf drc bom partslist net -doc: aic.pdf +drc: aic.drc -aic.ps: aic.dvi - dvips aic +bom: aic.bom aic.csv aic.bpp aic.xrf -aic.pdf: aic.dvi - dvipdf aic +partslist: aic.pl1 aic.pl2 aic.pl3 -aic.dvi: aic.tex \ - aictini.eps aicpower.eps aicconn.eps \ - aic_assembly.eps \ - aic_frontsilk.eps aic_front.eps aic_frontmask.eps \ - aic_back.eps aic_backmask.eps \ - aic_fab.eps \ - aic.aux aic.bbl - latex aic - latex aic +net: aic.net -aic.aux: aic.tex - latex aic +pdf: aicpic.eps aicpower.eps -aic.bbl: aic.bib - bibtex aic +pcb: aic.pcb -aictini.ps: aictini.sch - gschem -oaictini.ps -s/usr/share/gEDA/scheme/gschem-print.scm aictini.sch +aicpic.ps: aicpic.sch + gschem -o$@ -s$(GEDA_PATH)/print.scm $^ -aictini.eps: aictini.ps - eps2eps aictini.ps aictini.eps +aicpic.eps: aicpic.ps + eps2eps $^ $@ aicpower.ps: aicpower.sch - gschem -oaicpower.ps -s/usr/share/gEDA/scheme/gschem-print.scm aicpower.sch + gschem -o$@ -s$(GEDA_PATH)/print.scm $^ aicpower.eps: aicpower.ps - eps2eps aicpower.ps aicpower.eps + eps2eps $^ $@ + +aic.drc: ${FILES} attribs + gnetlist -g drc -o aic.drc ${FILES} -aicconn.ps: aicconn.sch - gschem -oaicconn.ps -s/usr/share/gEDA/scheme/gschem-print.scm aicconn.sch - -aicconn.eps: aicconn.ps - eps2eps aicconn.ps aicconn.eps - -pcb: aic.net #aicpcb.ps aicpcb.pdf #aic.pcb - -aic.net: $(SCHEMS) - gnetlist -g PCB -o aic.net $(SCHEMS) - -#aic.pcb: $(SCHEMS) -# gnetlist -g PCBboard -o aic.pcb $(SCHEMS) - -aic_assembly.eps: aic_assembly.ps - eps2eps aic_assembly.ps aictmp.eps - pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_assembly.eps +aic.bom: ${FILES} attribs + gnetlist -g bom -o aic.bom ${FILES} -aic_frontsilk.eps: aic_frontsilk.ps - eps2eps aic_frontsilk.ps aictmp.eps - pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_frontsilk.eps - -aic_front.eps: aic_front.ps - eps2eps aic_front.ps aictmp.eps - pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_front.eps - -aic_frontmask.eps: aic_frontmask.ps - eps2eps aic_frontmask.ps aictmp.eps - pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_frontmask.eps - -aic_back.eps: aic_back.ps - eps2eps aic_back.ps aictmp.eps - pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_back.eps - -aic_backmask.eps: aic_backmask.ps - eps2eps aic_backmask.ps aictmp.eps - pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_backmask.eps - -aic_fab.eps: aic_fab.ps - eps2eps aic_fab.ps aictmp.eps - pstops -b 1:0\(-3.5cm,0\) aictmp.eps aic_fab.eps - -#aicpcb.ps: aic_assembly.ps aic_frontsilk.ps aic_front.ps aic_frontmask.eps \ -# aic_back.ps aic_backmask.ps \ -# aic_fab.ps -# cat aic_assembly.ps aic_frontsilk.ps aic_front.ps aic_frontmask.eps \ -# aic_back.ps aic_backmask.ps \ -# aic_fab.ps > aictmp.ps -# ps2ps aictmp.ps aicpcb.ps - -#aicpcb.pdf: aicpcb.ps -# ps2pdf aicpcb.ps - -bom: aic.bom aic.bpp aic.xrf - -aic.bom: $(SCHEMS) attribs - gnetlist -g bom -o aic.bom $(SCHEMS) - aic.bpp: aic.bom bompp.sh aic.bom > aic.bpp aic.xrf: aic.bom bom_xref.sh aic.bom > aic.xrf -html: html/index.html +aic.csv: ${FILES} attribs + gnetlist -g bom2 -o aic.csv ${FILES} -html/index.html: Doxyfile aic.dox - doxygen +aic.pl1: ${FILES} + gnetlist -g partslist1 -o aic.pl1 ${FILES} -clean: - rm -f *.aux *.log *~ *.bak *.bbl *.blg *.old aicconn.ps aicpower.ps aictini.ps *.eps *.dvi +aic.pl2: ${FILES} + gnetlist -g partslist2 -o aic.pl2 ${FILES} + +aic.pl3: ${FILES} + gnetlist -g partslist3 -o aic.pl3 ${FILES} -distclean: clean - rm -f aic*.pdf aic.net aic.bom aic.bpp aic.xrf - rm -rf html +aic.net: ${FILES} + gnetlist -g PCB -o aic.net ${FILES} -update: $(SCHEMS) - gschupdate $(SCHEMS) +#aic.pdf: aic.ps +# ps2pdf aic.ps + +#aic.ps: modem.ps lpifc.ps option.ps \ +# aic_pin_silk.ps aic_assembly.ps aic_fab.ps \ +# aic_front.ps aic_frontmask.ps aic_frontsilk.ps \ +# aic_back.ps aic_backmask.ps +# cat modem.ps lpifc.ps option.ps \ +# aic_assembly.ps aic_fab.ps \ +# aic_front.ps aic_frontmask.ps aic_frontsilk.ps \ +# aic_back.ps aic_backmask.ps \ +# aic_pin_silk.ps > tmp.ps +# ps2ps tmp.ps aic.ps + +#aic.pcb: ${FILES} project +# gsch2pcb project + +#aic_pin_silk.ps: aic_frontsilk.ps aic_front.ps +# MergePCBPS aic_frontsilk.ps aic_front.ps > aic_pin_silk.ps + +clean: + rm -rf *.log *~ tmp.ps aicpic.ps aicpower.ps *.bak* aic_pin_silk.ps *.eps aic.pcb- + +mrproper: clean + rm -rf *.drc *.bom *.bpp *.xrf *.csv *.pl1 *.pl2 *.pl3 *.net aic.pdf *.tgz + +distclean: mrproper + rm -rf aicpic.ps aicpower.ps diff --git a/doc/aic.back.gbr b/doc/aic.back.gbr new file mode 100644 index 0000000..8e52ac4 --- /dev/null +++ b/doc/aic.back.gbr @@ -0,0 +1,1680 @@ +G04 start of page 2 for group 0 idx 0 * +G04 Title: (unknown), solder * +G04 Creator: pcb 20100929 * +G04 CreationDate: Thu 18 Nov 2010 07:40:28 PM GMT 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-note="http://www.rxtx.org", -key="{RXTX}"} - -@misc{tinisdk, -title="{TINI} Runtime Environment", -note="ftp://ftp.dalsemi.com/pub/tini/tini1 \underline{~} 10.tgz", -key="{TINI} Runtime Environment"} - -@book{tinispec, -title="The {TINI} Specification and Developers Guide", -author="Don Loomis", -publisher="Addison-Wesley", -address="Boston, MA", -month="Jun", -year="2001", -note="http://www.ibutton.org/TINI/tinispec.pdf"} - diff --git a/doc/aic.dox b/doc/aic.dox deleted file mode 100644 index b8d1689..0000000 --- a/doc/aic.dox +++ /dev/null @@ -1,16 +0,0 @@ -/** @mainpage Actuator Interface Card - -@author Walter Fetter Lages - -@section intro Introduction - -The operation of AIC and its communication with host computer is -supported by the class libraries AIC.jar and libaic.a. The AIC.jar package -is used by Java programs executing in AIC, while libaic.a is used by C++ -programs executing in host computer. - -Classes in AIC.jar implement the @ref aichardware. - -Classes in libaic.a implement the @ref aichost and the @ref aicsim. -*/ - diff --git a/doc/aic.fab.gbr b/doc/aic.fab.gbr new file mode 100644 index 0000000..93bddbd --- /dev/null +++ b/doc/aic.fab.gbr @@ -0,0 +1,3575 @@ +G04 start of page 8 for group -3984 idx -3984 * +G04 Title: (unknown), fab * +G04 Creator: pcb 20100929 * +G04 CreationDate: Thu 18 Nov 2010 07:40:28 PM GMT UTC * +G04 For: andrenb * +G04 Format: Gerber/RS-274X * +G04 PCB-Dimensions: 710000 410000 * +G04 PCB-Coordinate-Origin: lower left * +%MOIN*% +%FSLAX25Y25*% +%LNFAB*% +%ADD11C,0.0100*% +%ADD24C,0.0080*% +%ADD42C,0.0060*% +G54D24*X75000Y334500D02*Y329700D01* +Y334500D02*X79160Y336900D01* +X75000Y334500D02*X70840Y336900D01* +X73400Y334500D02*G75*G03X76600Y334500I1600J0D01*G01* +G75*G03X73400Y334500I-1600J0D01*G01* 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40 8) + SymbolLine(0 10 25 10 8) + SymbolLine(25 10 25 15 8) + SymbolLine(0 40 25 15 8) + SymbolLine(0 40 0 50 8) + SymbolLine(0 50 25 50 8) ) Symbol('[' 12) ( - SymbolLine(0 0 5 0 8) - SymbolLine(0 0 0 40 8) - SymbolLine(0 40 5 40 8) + SymbolLine(0 10 5 10 8) + SymbolLine(0 10 0 50 8) + SymbolLine(0 50 5 50 8) ) Symbol('\' 12) ( - SymbolLine(0 5 30 35 8) + SymbolLine(0 15 30 45 8) ) Symbol(']' 12) ( - SymbolLine(0 0 5 0 8) - SymbolLine(5 0 5 40 8) - SymbolLine(0 40 5 40 8) + SymbolLine(0 10 5 10 8) + SymbolLine(5 10 5 50 8) + SymbolLine(0 50 5 50 8) ) Symbol('^' 12) ( - SymbolLine(0 5 5 0 8) - SymbolLine(5 0 10 5 8) + SymbolLine(0 15 5 10 8) + SymbolLine(5 10 10 15 8) ) Symbol('_' 12) ( - SymbolLine(0 40 20 40 8) + SymbolLine(0 50 20 50 8) ) Symbol('a' 12) ( - SymbolLine(15 20 20 25 8) - SymbolLine(5 20 15 20 8) - SymbolLine(0 25 5 20 8) - SymbolLine(0 25 0 35 8) - SymbolLine(0 35 5 40 8) - SymbolLine(20 20 20 35 8) - SymbolLine(20 35 25 40 8) - SymbolLine(5 40 15 40 8) - 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8) ) Symbol('d' 12) ( - SymbolLine(20 0 20 40 8) - SymbolLine(15 40 20 35 8) - SymbolLine(5 40 15 40 8) - SymbolLine(0 35 5 40 8) - SymbolLine(0 25 0 35 8) - SymbolLine(0 25 5 20 8) - SymbolLine(5 20 15 20 8) - SymbolLine(15 20 20 25 8) + SymbolLine(20 10 20 50 8) + SymbolLine(15 50 20 45 8) + SymbolLine(5 50 15 50 8) + SymbolLine(0 45 5 50 8) + SymbolLine(0 35 0 45 8) + SymbolLine(0 35 5 30 8) + SymbolLine(5 30 15 30 8) + SymbolLine(15 30 20 35 8) ) Symbol('e' 12) ( - SymbolLine(5 40 20 40 8) - SymbolLine(0 35 5 40 8) - SymbolLine(0 25 0 35 8) - SymbolLine(0 25 5 20 8) - SymbolLine(5 20 15 20 8) - SymbolLine(15 20 20 25 8) - SymbolLine(0 30 20 30 8) - SymbolLine(20 30 20 25 8) + SymbolLine(5 50 20 50 8) + SymbolLine(0 45 5 50 8) + SymbolLine(0 35 0 45 8) + SymbolLine(0 35 5 30 8) + SymbolLine(5 30 15 30 8) + SymbolLine(15 30 20 35 8) + SymbolLine(0 40 20 40 8) + SymbolLine(20 40 20 35 8) ) Symbol('f' 10) ( - SymbolLine(5 5 5 40 8) - SymbolLine(5 5 10 0 8) - SymbolLine(10 0 15 0 8) - SymbolLine(0 20 10 20 8) + SymbolLine(5 15 5 50 8) + SymbolLine(5 15 10 10 8) + SymbolLine(10 10 15 10 8) + SymbolLine(0 30 10 30 8) ) Symbol('g' 12) ( - SymbolLine(15 20 20 25 8) - SymbolLine(5 20 15 20 8) - SymbolLine(0 25 5 20 8) - SymbolLine(0 25 0 35 8) - SymbolLine(0 35 5 40 8) - SymbolLine(5 40 15 40 8) - SymbolLine(15 40 20 35 8) - SymbolLine(0 50 5 55 8) - SymbolLine(5 55 15 55 8) - SymbolLine(15 55 20 50 8) - SymbolLine(20 20 20 50 8) + SymbolLine(15 30 20 35 8) + SymbolLine(5 30 15 30 8) + SymbolLine(0 35 5 30 8) + SymbolLine(0 35 0 45 8) + SymbolLine(0 45 5 50 8) + SymbolLine(5 50 15 50 8) + SymbolLine(15 50 20 45 8) + SymbolLine(0 60 5 65 8) + SymbolLine(5 65 15 65 8) + SymbolLine(15 65 20 60 8) + SymbolLine(20 30 20 60 8) ) Symbol('h' 12) ( - SymbolLine(0 0 0 40 8) - SymbolLine(0 25 5 20 8) - SymbolLine(5 20 15 20 8) - SymbolLine(15 20 20 25 8) - SymbolLine(20 25 20 40 8) + SymbolLine(0 10 0 50 8) + SymbolLine(0 35 5 30 8) + SymbolLine(5 30 15 30 8) + SymbolLine(15 30 20 35 8) + SymbolLine(20 35 20 50 8) ) Symbol('i' 10) ( - SymbolLine(0 10 0 15 8) - SymbolLine(0 25 0 40 8) + SymbolLine(0 20 0 25 8) + SymbolLine(0 35 0 50 8) ) Symbol('j' 10) ( - SymbolLine(5 10 5 15 8) - SymbolLine(5 25 5 50 8) - SymbolLine(0 55 5 50 8) + SymbolLine(5 20 5 25 8) + SymbolLine(5 35 5 60 8) + SymbolLine(0 65 5 60 8) ) Symbol('k' 12) ( - SymbolLine(0 0 0 40 8) - SymbolLine(0 25 15 40 8) - SymbolLine(0 25 10 15 8) + SymbolLine(0 10 0 50 8) + SymbolLine(0 35 15 50 8) + SymbolLine(0 35 10 25 8) ) Symbol('l' 10) ( - SymbolLine(0 0 0 35 8) - SymbolLine(0 35 5 40 8) + SymbolLine(0 10 0 45 8) + SymbolLine(0 45 5 50 8) ) Symbol('m' 12) ( - SymbolLine(5 25 5 40 8) - SymbolLine(5 25 10 20 8) - SymbolLine(10 20 15 20 8) - SymbolLine(15 20 20 25 8) - SymbolLine(20 25 20 40 8) - SymbolLine(20 25 25 20 8) - SymbolLine(25 20 30 20 8) - SymbolLine(30 20 35 25 8) - SymbolLine(35 25 35 40 8) - SymbolLine(0 20 5 25 8) + SymbolLine(5 35 5 50 8) + SymbolLine(5 35 10 30 8) + SymbolLine(10 30 15 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-Via(2550 900 40 20 "" 0x00000002) -Via(2500 1725 40 20 "" 0x00000002) -Via(1900 1750 40 20 "" 0x00000002) -Via(1800 1700 40 20 "" 0x00000002) -Via(4300 1975 40 20 "" 0x00000002) -Via(3325 2700 60 35 "" 0x00000002) -Via(2900 2650 40 20 "" 0x00000002) -Via(4800 2650 40 20 "" 0x00000002) -Via(4700 2900 60 35 "" 0x00000002) -Via(4625 2825 40 20 "" 0x00000002) -Via(3000 1775 40 20 "" 0x00000002) -Via(4850 1775 40 20 "" 0x00000002) -Via(3050 850 40 20 "" 0x00000002) -Via(2750 850 40 20 "" 0x00000002) -Via(3300 800 40 20 "" 0x00000002) -Via(2850 800 40 20 "" 0x00000002) -Via(3500 2200 40 20 "" 0x00000002) -Via(3650 2200 40 20 "" 0x00000002) -Via(3550 3850 40 20 "" 0x00000002) -Via(2975 3525 60 35 "" 0x00000002) -Via(3750 3600 40 20 "" 0x00000002) -Via(1075 1475 40 20 "" 0x00000002) -Via(1220 1605 40 20 "" 0x00000002) -Via(4500 1825 40 20 "" 0x00000002) -Via(2625 3525 40 20 "" 0x00000002) -Via(3275 3525 40 20 "" 0x00000002) -Via(4000 2250 40 20 "" 0x00000002) -Via(4050 2150 40 20 "" 0x00000002) -Via(4100 2050 40 20 "" 0x00000002) -Via(1050 2700 40 20 "" 0x00000002) -Via(4150 2725 40 20 "" 0x00000002) -Via(4025 2500 40 20 "" 0x00000002) -Via(2225 3100 40 20 "" 0x00000002) -Via(4025 3100 40 20 "" 0x00000002) -Via(5200 2600 40 20 "" 0x00000002) -Via(5200 3375 40 20 "" 0x00000002) -Via(2100 3225 40 20 "" 0x00000002) -Via(5700 3225 40 20 "" 0x00000002) -Via(5700 2450 40 20 "" 0x00000002) -Via(5300 3275 40 20 "" 0x00000002) -Via(2825 3300 40 20 "" 0x00000002) -Via(3275 3050 40 20 "" 0x00000002) -Via(495 3300 40 20 "" 0x00000002) -Via(1300 2550 60 35 "" 0x00000002) -Via(765 2570 40 20 "" 0x00000002) -Via(905 3055 40 20 "" 0x00000002) -Via(5925 3600 60 35 "" 0x00000002) -Via(4050 3425 60 35 "" 0x00000002) - -Element(0x00000000 "eurocard1" "" "EUROCARD1" 6810 50 3 100 0x00000000) -( - Pin(575 275 120 80 "M1" "1" 0x00000001) - Pin(575 3762 120 80 "M2" "2" 0x00000001) - Pin(6625 275 120 80 "M3" "3" 0x00000001) - Pin(6625 3762 120 80 "M4" "4" 0x00000001) - ElementLine (450 50 450 3987 20) - ElementLine (450 3987 6750 3987 20) - ElementLine (6750 3987 6750 50 20) - ElementLine (6750 50 450 50 20) - Mark (450 50) -) - -Element(0x00000000 "R 0.25W" "R11" "330" 1035 3075 2 100 0x00000000) -( - Pin(1155 3055 60 35 "1" "1" 0x00000101) - Pin(755 3055 60 35 "2" "2" 0x00000001) - ElementLine (855 3055 755 3055 20) - ElementLine (1155 3055 1055 3055 20) - ElementLine (1055 3005 1055 3105 20) - ElementLine (855 3005 1055 3005 20) - ElementLine (855 3105 855 3005 20) - ElementLine (1055 3105 855 3105 20) - Mark (1155 3055) -) - -Element(0x00000000 "generic" "U9" "LT1162" 1775 3555 0 100 0x00000000) -( - Pin(1725 3725 60 35 "1" "1" 0x00000101) - Pin(1825 3725 60 35 "2" "2" 0x00000001) - Pin(1925 3725 60 35 "3" "3" 0x00000001) - Pin(2025 3725 60 35 "4" "4" 0x00000001) - Pin(2125 3725 60 35 "5" "5" 0x00000001) - Pin(2225 3725 60 35 "6" "6" 0x00000001) - Pin(2325 3725 60 35 "7" "7" 0x00000001) - Pin(2425 3725 60 35 "8" "8" 0x00000001) - Pin(2525 3725 60 35 "9" "9" 0x00000001) - Pin(2625 3725 60 35 "10" "10" 0x00000001) - Pin(2725 3725 60 35 "11" "11" 0x00000001) - Pin(2825 3725 60 35 "12" "12" 0x00000001) - Pin(2825 3425 60 35 "13" "13" 0x00000001) - Pin(2725 3425 60 35 "14" "14" 0x00000001) - Pin(2625 3425 60 35 "15" "15" 0x00000001) - Pin(2525 3425 60 35 "16" "16" 0x00000001) - Pin(2425 3425 60 35 "17" "17" 0x00000001) - Pin(2325 3425 60 35 "18" "18" 0x00000001) - Pin(2225 3425 60 35 "19" "19" 0x00000001) - Pin(2125 3425 60 35 "20" "20" 0x00000001) - Pin(2025 3425 60 35 "21" "21" 0x00000001) - Pin(1925 3425 60 35 "22" "22" 0x00000001) - Pin(1825 3425 60 35 "23" "23" 0x00000001) - Pin(1725 3425 60 35 "24" "24" 0x00000001) - ElementLine (1675 3525 1675 3375 10) - ElementLine (1675 3775 1675 3625 10) - ElementLine (2875 3375 1675 3375 10) - ElementLine (2875 3775 2875 3375 10) - ElementLine (1675 3775 2875 3775 10) - ElementArc (1675 3575 50 50 90 180 10) - Mark (1725 3725) -) - -Element(0x00000000 "capacitor_radial" "C3" "10uFx25V" 1225 3825 2 100 0x00000000) -( - Pin(1375 3725 60 35 "1" "1" 0x00000101) - Pin(1275 3725 60 35 "2" "2" 0x00000001) - ElementArc (1325 3725 100 100 180 360 10) - Mark (1375 3725) -) - -Element(0x00000000 "vertical, 95 mils center pole" "U1" "TINIm#90-RevD" 5800 1760 2 100 0x00000000) -( - Pin(5400 1625 60 35 "1" "1" 0x00000101) - Pin(5350 1525 60 35 "2" "2" 0x00000001) - Pin(5300 1625 60 35 "3" "3" 0x00000001) - Pin(5250 1525 60 35 "4" "4" 0x00000001) - Pin(5200 1625 60 35 "5" "5" 0x00000001) - Pin(5150 1525 60 35 "6" "6" 0x00000001) - Pin(5100 1625 60 35 "7" "7" 0x00000001) - Pin(5050 1525 60 35 "8" "8" 0x00000001) - Pin(5000 1625 60 35 "9" "9" 0x00000001) - Pin(4950 1525 60 35 "10" "10" 0x00000001) - Pin(4900 1625 60 35 "11" "11" 0x00000001) - Pin(4850 1525 60 35 "12" "12" 0x00000001) - Pin(4800 1625 60 35 "13" "13" 0x00000001) - Pin(4750 1525 60 35 "14" "14" 0x00000001) - Pin(4700 1625 60 35 "15" "15" 0x00000001) - Pin(4650 1525 60 35 "16" "16" 0x00000001) - Pin(4600 1625 60 35 "17" "17" 0x00000001) - Pin(4550 1525 60 35 "18" "18" 0x00000001) - Pin(4500 1625 60 35 "19" "19" 0x00000001) - Pin(4450 1525 60 35 "20" "20" 0x00000001) - Pin(4400 1625 60 35 "21" "21" 0x00000001) - Pin(4350 1525 60 35 "22" "22" 0x00000001) - Pin(4300 1625 60 35 "23" "23" 0x00000001) - Pin(4250 1525 60 35 "24" "24" 0x00000001) - Pin(4200 1625 60 35 "25" "25" 0x00000001) - Pin(4150 1525 60 35 "26" "26" 0x00000001) - Pin(4100 1625 60 35 "27" "27" 0x00000001) - Pin(4050 1525 60 35 "28" "28" 0x00000001) - Pin(4000 1625 60 35 "29" "29" 0x00000001) - Pin(3950 1525 60 35 "30" "30" 0x00000001) - Pin(3900 1625 60 35 "31" "31" 0x00000001) - Pin(3850 1525 60 35 "32" "32" 0x00000001) - Pin(3800 1625 60 35 "33" "33" 0x00000001) - Pin(3750 1525 60 35 "34" "34" 0x00000001) - Pin(3700 1625 60 35 "35" "35" 0x00000001) - Pin(3650 1525 60 35 "36" "36" 0x00000001) - Pin(3400 1625 60 35 "37" "37" 0x00000001) - Pin(3350 1525 60 35 "38" "38" 0x00000001) - Pin(3300 1625 60 35 "39" "39" 0x00000001) - Pin(3250 1525 60 35 "40" "40" 0x00000001) - Pin(3200 1625 60 35 "41" "41" 0x00000001) - Pin(3150 1525 60 35 "42" "42" 0x00000001) - Pin(3100 1625 60 35 "43" "43" 0x00000001) - Pin(3050 1525 60 35 "44" "44" 0x00000001) - Pin(3000 1625 60 35 "45" "45" 0x00000001) - Pin(2950 1525 60 35 "46" "46" 0x00000001) - Pin(2900 1625 60 35 "47" "47" 0x00000001) - Pin(2850 1525 60 35 "48" "48" 0x00000001) - Pin(2800 1625 60 35 "49" "49" 0x00000001) - Pin(2750 1525 60 35 "50" "50" 0x00000001) - Pin(2700 1625 60 35 "51" "51" 0x00000001) - Pin(2650 1525 60 35 "52" "52" 0x00000001) - Pin(2600 1625 60 35 "53" "53" 0x00000001) - Pin(2550 1525 60 35 "54" "54" 0x00000001) - Pin(2500 1625 60 35 "55" "55" 0x00000001) - Pin(2450 1525 60 35 "56" "56" 0x00000001) - Pin(2400 1625 60 35 "57" "57" 0x00000001) - Pin(2350 1525 60 35 "58" "58" 0x00000001) - Pin(2300 1625 60 35 "59" "59" 0x00000001) - Pin(2250 1525 60 35 "60" "60" 0x00000001) - Pin(2200 1625 60 35 "61" "61" 0x00000001) - Pin(2150 1525 60 35 "62" "62" 0x00000001) - Pin(2100 1625 60 35 "63" "63" 0x00000001) - Pin(2050 1525 60 35 "64" "64" 0x00000001) - Pin(2000 1625 60 35 "65" "65" 0x00000001) - Pin(1950 1525 60 35 "66" "66" 0x00000001) - Pin(1900 1625 60 35 "67" "67" 0x00000001) - Pin(1850 1525 60 35 "68" "68" 0x00000001) - Pin(1800 1625 60 35 "69" "69" 0x00000001) - Pin(1750 1525 60 35 "70" "70" 0x00000001) - Pin(1700 1625 60 35 "71" "71" 0x00000001) - Pin(1650 1525 60 35 "72" "72" 0x00000001) - Pin(5730 1575 80 60 "C1" "73" 0x00000001) - Pin(3525 1575 120 100 "0" "74" 0x00000001) - Pin(1325 1575 120 100 "C1" "75" 0x00000001) - ElementLine (5800 1700 5800 1410 20) - ElementLine (1250 1700 5800 1700 20) - ElementLine (1250 1410 1250 1700 20) - ElementLine (5800 1410 1250 1410 20) - Mark (5400 1625) -) - -Element(0x00000000 "capacitor_radial" "C5" "1uFx25V" 1225 3525 2 100 0x00000000) -( - Pin(1375 3425 60 35 "1" "1" 0x00000101) - Pin(1275 3425 60 35 "2" "2" 0x00000001) - ElementArc (1325 3425 100 100 180 360 10) - Mark (1375 3425) -) - -Element(0x00000000 "capacitor_radial" "C6" "1uFx25V" 3325 3325 0 100 0x00000000) -( - Pin(3175 3425 60 35 "1" "1" 0x00000101) - Pin(3275 3425 60 35 "2" "2" 0x00000001) - ElementArc (3225 3425 100 100 0 360 10) - Mark (3175 3425) -) - -Element(0x00000000 "generic" "U10" "MAX4429" 3650 2730 0 100 0x00000000) -( - Pin(3600 2900 60 35 "1" "1" 0x00000101) - Pin(3700 2900 60 35 "2" "2" 0x00000001) - Pin(3800 2900 60 35 "3" "3" 0x00000001) - Pin(3900 2900 60 35 "4" "4" 0x00000001) - Pin(3900 2600 60 35 "5" "5" 0x00000001) - Pin(3800 2600 60 35 "6" "6" 0x00000001) - Pin(3700 2600 60 35 "7" "7" 0x00000001) - Pin(3600 2600 60 35 "8" "8" 0x00000001) - ElementLine (3550 2700 3550 2550 10) - ElementLine (3550 2950 3550 2800 10) - ElementLine (3950 2550 3550 2550 10) - ElementLine (3950 2950 3950 2550 10) - ElementLine (3550 2950 3950 2950 10) - ElementArc (3550 2750 50 50 90 180 10) - Mark (3600 2900) -) - -Element(0x00000000 "shielded" "J2" "RJ 45" 1050 1128 2 100 0x00000000) -( - Pin(875 575 60 35 "1" "1" 0x00000101) - Pin(975 625 60 35 "2" "2" 0x00000001) - Pin(875 675 60 35 "3" "3" 0x00000001) - Pin(975 725 60 35 "4" "4" 0x00000001) - Pin(875 775 60 35 "5" "5" 0x00000001) - Pin(975 825 60 35 "6" "6" 0x00000001) - Pin(875 875 60 35 "7" "7" 0x00000001) - Pin(975 925 60 35 "8" "8" 0x00000001) - Pin(625 525 148 128 "C1" "9" 0x00000001) - Pin(625 976 148 128 "C1" "10" 0x00000001) - Pin(745 445 80 60 "C1" "11" 0x00000001) - Pin(745 1056 80 60 "C1" "12" 0x00000001) - ElementLine (1050 433 200 433 20) - ElementLine (200 433 200 1068 20) - ElementLine (200 1068 1050 1068 20) - ElementLine (1050 1068 1050 433 20) - Mark (875 575) -) - -Element(0x00000000 "capacitor_radial" "C10" "4.7uFx16V" 3375 2800 0 100 0x00000000) -( - Pin(3225 2900 60 35 "1" "1" 0x00000101) - Pin(3325 2900 60 35 "2" "2" 0x00000001) - ElementArc (3275 2900 100 100 0 360 10) - Mark (3225 2900) -) - -Element(0x00000000 "optical coupling device" "U4" "6N137" 5825 405 0 100 0x00000000) -( - Pin(5775 575 60 35 "NC" "1" 0x00000101) - Pin(5875 575 60 35 "A+" "2" 0x00000001) - Pin(5975 575 60 35 "K-" "3" 0x00000001) - Pin(6075 575 60 35 "NC" "4" 0x00000001) - Pin(6075 275 60 35 "Gnd" "5" 0x00000001) - Pin(5975 275 60 35 "Out" "6" 0x00000001) - Pin(5875 275 60 35 "En" "7" 0x00000001) - Pin(5775 275 60 35 "Vcc" "8" 0x00000001) - ElementLine (5725 375 5725 225 10) - ElementLine (5725 625 5725 475 10) - ElementLine (6125 225 5725 225 10) - ElementLine (6125 625 6125 225 10) - ElementLine (5725 625 6125 625 10) - ElementArc (5725 425 50 50 90 180 10) - Mark (5775 575) -) - -Element(0x00000000 "IRLZ24N" "Q5" "IRLZ24N" 5725 1910 0 100 0x00000000) -( - Pin(5825 2100 80 42 "G" "1" 0x00000101) - Pin(5925 2100 80 42 "D" "2" 0x00000001) - Pin(6025 2100 80 42 "S" "3" 0x00000001) - ElementLine (5725 1980 6125 1980 20) - ElementLine (6125 1980 6125 2160 20) - ElementLine (6125 2160 5725 2160 20) - ElementLine (5725 2160 5725 1980 20) - ElementLine (5725 1980 6125 1980 20) - ElementLine (6125 1980 6125 2040 20) - ElementLine (6125 2040 5725 2040 20) - ElementLine (5725 2040 5725 1980 20) - ElementLine (5855 1980 5855 2040 10) - ElementLine (5995 1980 5995 2040 10) - Mark (5825 2100) -) - -Element(0x00000000 "optical coupling device" "U5" "6N137" 5825 1005 0 100 0x00000000) -( - Pin(5775 1175 60 35 "NC" "1" 0x00000101) - Pin(5875 1175 60 35 "A+" "2" 0x00000001) - Pin(5975 1175 60 35 "K-" "3" 0x00000001) - Pin(6075 1175 60 35 "NC" "4" 0x00000001) - Pin(6075 875 60 35 "Gnd" "5" 0x00000001) - Pin(5975 875 60 35 "Out" "6" 0x00000001) - Pin(5875 875 60 35 "En" "7" 0x00000001) - Pin(5775 875 60 35 "Vcc" "8" 0x00000001) - ElementLine (5725 975 5725 825 10) - ElementLine (5725 1225 5725 1075 10) - ElementLine (6125 825 5725 825 10) - ElementLine (6125 1225 6125 825 10) - ElementLine (5725 1225 6125 1225 10) - ElementArc (5725 1025 50 50 90 180 10) - Mark (5775 1175) -) - -Element(0x00000000 "diode" "D7" "1N4007" 5845 1825 0 100 0x00000000) -( - Pin(5625 1875 60 35 "1" "1" 0x00000101) - Pin(5925 1875 60 35 "2" "2" 0x00000001) - ElementLine (5625 1875 5725 1875 10) - ElementLine (5825 1875 5925 1875 10) - ElementLine (5725 1875 5825 1825 10) - ElementLine (5825 1825 5825 1925 10) - ElementLine (5825 1925 5725 1875 10) - ElementLine (5725 1825 5725 1925 10) - Mark (5625 1875) -) - -Element(0x00000000 "IRF1010N" "Q3" "IRF1010N" 5725 2735 0 100 0x00000000) -( - Pin(5825 2925 80 42 "G" "1" 0x00000101) - Pin(5925 2925 80 42 "D" "2" 0x00000001) - Pin(6025 2925 80 42 "S" "3" 0x00000001) - ElementLine (5725 2805 6125 2805 20) - ElementLine (6125 2805 6125 2985 20) - ElementLine (6125 2985 5725 2985 20) - ElementLine (5725 2985 5725 2805 20) - ElementLine (5725 2805 6125 2805 20) - ElementLine (6125 2805 6125 2865 20) - ElementLine (6125 2865 5725 2865 20) - ElementLine (5725 2865 5725 2805 20) - ElementLine (5855 2805 5855 2865 10) - ElementLine (5995 2805 5995 2865 10) - Mark (5825 2925) -) - -Element(0x00000000 "Push-button, tactile, right angle, 466mils actuator" "S1" "MJTP1236_D" 648 2784 0 100 0x00000000) -( - Pin(550 2695 70 42 "1" "1" 0x00000101) - Pin(550 2872 70 42 "2" "2" 0x00000001) - Pin(648 2646 70 52 "C1" "C1" 0x00000001) - Pin(648 2922 70 52 "C2" "C2" 0x00000001) - ElementLine (84 2843 450 2853 20) - ElementLine (84 2725 84 2843 20) - ElementLine (450 2715 84 2725 20) - ElementLine (588 2922 588 2646 20) - ElementLine (450 2922 708 2922 20) - ElementLine (450 2646 450 2922 20) - ElementLine (708 2646 450 2646 20) - Mark (550 2695) -) - -Element(0x00000000 "E22 standing" "" "E22" 4050 3525 2 100 0x00000000) -( - ElementLine (4575 3850 3525 3850 20) - ElementLine (4575 3850 4575 3200 20) - ElementLine (4575 3200 4525 3200 20) - ElementLine (4525 3200 4525 3750 20) - ElementLine (4525 3750 4325 3750 20) - ElementLine (4325 3750 4325 3200 20) - ElementLine (4325 3200 4275 3200 20) - ElementLine (4275 3200 4275 3750 20) - ElementLine (4275 3750 3825 3750 20) - ElementLine (3525 3850 3525 3200 20) - ElementLine (3525 3200 3575 3200 20) - ElementLine (3575 3200 3575 3750 20) - ElementLine (3575 3750 3775 3750 20) - ElementLine (3775 3750 3775 3200 20) - ElementLine (3775 3200 3825 3200 20) - ElementLine (3825 3200 3825 3750 20) - Mark (4575 3850) -) - -Element(0x00000000 "capacitor_radial" "C2" "100uFx16V" 4975 3150 0 100 0x00000000) -( - Pin(4750 3300 60 35 "1" "1" 0x00000101) - Pin(4900 3300 60 35 "2" "2" 0x00000001) - ElementArc (4825 3300 150 150 0 360 10) - Mark (4750 3300) -) - -Element(0x00000000 "R 0.25W" "R10" "1k5" 2980 2855 1 100 0x00000000) -( - Pin(3000 2975 60 35 "1" "1" 0x00000101) - Pin(3000 2575 60 35 "2" "2" 0x00000001) - ElementLine (2950 2875 2950 2675 20) - ElementLine (2950 2675 3050 2675 20) - ElementLine (3050 2675 3050 2875 20) - ElementLine (3050 2875 2950 2875 20) - ElementLine (3000 2975 3000 2875 20) - ElementLine (3000 2675 3000 2575 20) - Mark (3000 2975) -) - -Element(0x00000000 "R 0.25W" "R3" "2k2" 4455 505 1 100 0x00000000) -( - Pin(4475 625 60 35 "1" "1" 0x00000101) - Pin(4475 225 60 35 "2" "2" 0x00000001) - ElementLine (4425 525 4425 325 20) - ElementLine (4425 325 4525 325 20) - ElementLine (4525 325 4525 525 20) - ElementLine (4525 525 4425 525 20) - ElementLine (4475 625 4475 525 20) - ElementLine (4475 325 4475 225 20) - Mark (4475 625) -) - -Element(0x00000000 "capacitor_radial" "C9" "220nF" 3175 2700 2 100 0x00000000) -( - Pin(3325 2600 60 35 "1" "1" 0x00000101) - Pin(3225 2600 60 35 "2" "2" 0x00000001) - ElementArc (3275 2600 100 100 180 360 10) - Mark (3325 2600) -) - -Element(0x00000000 "DIN 41612C-96 male" "J15" "DIN41612C96_male" 6625 3455 1 200 0x00000000) -( - Pin(6525 475 60 35 "a1" "A1" 0x00000101) - Pin(6525 575 60 35 "a2" "A2" 0x00000001) - Pin(6525 675 60 35 "a3" "A3" 0x00000001) - Pin(6525 775 60 35 "a4" "A4" 0x00000001) - Pin(6525 875 60 35 "a5" "A5" 0x00000001) - Pin(6525 975 60 35 "a6" "A6" 0x00000001) - Pin(6525 1075 60 35 "a7" "A7" 0x00000001) - Pin(6525 1175 60 35 "a8" "A8" 0x00000001) - Pin(6525 1275 60 35 "a9" "A9" 0x00000001) - Pin(6525 1375 60 35 "a10" "A10" 0x00000001) - Pin(6525 1475 60 35 "a11" "A11" 0x00000001) - Pin(6525 1575 60 35 "a12" "A12" 0x00000001) - Pin(6525 1675 60 35 "a13" "A13" 0x00000001) - Pin(6525 1775 60 35 "a14" "A14" 0x00000001) - Pin(6525 1875 60 35 "a15" "A15" 0x00000001) - Pin(6525 1975 60 35 "a16" "A16" 0x00000001) - Pin(6525 2075 60 35 "a17" "A17" 0x00000001) - Pin(6525 2175 60 35 "a18" "A18" 0x00000001) - Pin(6525 2275 60 35 "a19" "A19" 0x00000001) - Pin(6525 2375 60 35 "a20" "A20" 0x00000001) - Pin(6525 2475 60 35 "a21" "A21" 0x00000001) - Pin(6525 2575 60 35 "a22" "A22" 0x00000001) - Pin(6525 2675 60 35 "a23" "A23" 0x00000001) - Pin(6525 2775 60 35 "a24" "A24" 0x00000001) - Pin(6525 2875 60 35 "a25" "A25" 0x00000001) - Pin(6525 2975 60 35 "a26" "A26" 0x00000001) - Pin(6525 3075 60 35 "a27" "A27" 0x00000001) - Pin(6525 3175 60 35 "a28" "A28" 0x00000001) - Pin(6525 3275 60 35 "a29" "A29" 0x00000001) - Pin(6525 3375 60 35 "a30" "A30" 0x00000001) - Pin(6525 3475 60 35 "a31" "A31" 0x00000001) - Pin(6525 3575 60 35 "a32" "A32" 0x00000001) - Pin(6425 475 60 35 "b1" "B1" 0x00000001) - Pin(6425 575 60 35 "b2" "B2" 0x00000001) - Pin(6425 675 60 35 "b3" "B3" 0x00000001) - Pin(6425 775 60 35 "b4" "B4" 0x00000001) - Pin(6425 875 60 35 "b5" "B5" 0x00000001) - Pin(6425 975 60 35 "b6" "B6" 0x00000001) - Pin(6425 1075 60 35 "b7" "B7" 0x00000001) - Pin(6425 1175 60 35 "b8" "B8" 0x00000001) - Pin(6425 1275 60 35 "b9" "B9" 0x00000001) - Pin(6425 1375 60 35 "b10" "B10" 0x00000001) - Pin(6425 1475 60 35 "b11" "B11" 0x00000001) - Pin(6425 1575 60 35 "b12" "B12" 0x00000001) - Pin(6425 1675 60 35 "b13" "B13" 0x00000001) - Pin(6425 1775 60 35 "b14" "B14" 0x00000001) - Pin(6425 1875 60 35 "b15" "B15" 0x00000001) - Pin(6425 1975 60 35 "b16" "B16" 0x00000001) - Pin(6425 2075 60 35 "b17" "B17" 0x00000001) - Pin(6425 2175 60 35 "b18" "B18" 0x00000001) - Pin(6425 2275 60 35 "b19" "B19" 0x00000001) - Pin(6425 2375 60 35 "b20" "B20" 0x00000001) - Pin(6425 2475 60 35 "b21" "B21" 0x00000001) - Pin(6425 2575 60 35 "b22" "B22" 0x00000001) - Pin(6425 2675 60 35 "b23" "B23" 0x00000001) - Pin(6425 2775 60 35 "b24" "B24" 0x00000001) - Pin(6425 2875 60 35 "b25" "B25" 0x00000001) - Pin(6425 2975 60 35 "b26" "B26" 0x00000001) - Pin(6425 3075 60 35 "b27" "B27" 0x00000001) - Pin(6425 3175 60 35 "b28" "B28" 0x00000001) - Pin(6425 3275 60 35 "b29" "B29" 0x00000001) - Pin(6425 3375 60 35 "b30" "B30" 0x00000001) - Pin(6425 3475 60 35 "b31" "B31" 0x00000001) - Pin(6425 3575 60 35 "b32" "B32" 0x00000001) - Pin(6325 475 60 35 "c1" "C1" 0x00000001) - Pin(6325 575 60 35 "c2" "C2" 0x00000001) - Pin(6325 675 60 35 "c3" "C3" 0x00000001) - Pin(6325 775 60 35 "c4" "C4" 0x00000001) - Pin(6325 875 60 35 "c5" "C5" 0x00000001) - Pin(6325 975 60 35 "c6" "C6" 0x00000001) - Pin(6325 1075 60 35 "c7" "C7" 0x00000001) - Pin(6325 1175 60 35 "c8" "C8" 0x00000001) - Pin(6325 1275 60 35 "c9" "C9" 0x00000001) - Pin(6325 1375 60 35 "c10" "C10" 0x00000001) - Pin(6325 1475 60 35 "c11" "C11" 0x00000001) - Pin(6325 1575 60 35 "c12" "C12" 0x00000001) - Pin(6325 1675 60 35 "c13" "C13" 0x00000001) - Pin(6325 1775 60 35 "c14" "C14" 0x00000001) - Pin(6325 1875 60 35 "c15" "C15" 0x00000001) - Pin(6325 1975 60 35 "c16" "C16" 0x00000001) - Pin(6325 2075 60 35 "c17" "C17" 0x00000001) - Pin(6325 2175 60 35 "c18" "C18" 0x00000001) - Pin(6325 2275 60 35 "c19" "C19" 0x00000001) - Pin(6325 2375 60 35 "c20" "C20" 0x00000001) - Pin(6325 2475 60 35 "c21" "C21" 0x00000001) - Pin(6325 2575 60 35 "c22" "C22" 0x00000001) - Pin(6325 2675 60 35 "c23" "C23" 0x00000001) - Pin(6325 2775 60 35 "c24" "C24" 0x00000001) - Pin(6325 2875 60 35 "c25" "C25" 0x00000001) - Pin(6325 2975 60 35 "c26" "C26" 0x00000001) - Pin(6325 3075 60 35 "c27" "C27" 0x00000001) - Pin(6325 3175 60 35 "c28" "C28" 0x00000001) - Pin(6325 3275 60 35 "c29" "C29" 0x00000001) - Pin(6325 3375 60 35 "c30" "C30" 0x00000001) - Pin(6325 3475 60 35 "c31" "C31" 0x00000001) - Pin(6325 3575 60 35 "c32" "C32" 0x00000001) - Pin(6625 3775 120 80 "M1" "M1" 0x00000001) - Pin(6625 275 120 80 "M2" "M2" 0x00000001) - ElementLine (7025 275 6845 275 20) - ElementLine (7025 3775 7025 275 20) - ElementLine (6845 3775 7025 3775 20) - ElementLine (6620 3655 6620 395 20) - ElementLine (6620 395 6525 395 20) - ElementLine (6845 395 6620 395 10) - ElementLine (6845 275 6845 395 10) - ElementLine (6845 175 6845 275 20) - ElementLine (6525 175 6845 175 20) - ElementLine (6525 395 6525 175 20) - ElementLine (6845 3875 6525 3875 20) - ElementLine (6845 3775 6845 3875 20) - ElementLine (6845 3655 6845 3775 10) - ElementLine (6620 3655 6845 3655 10) - ElementLine (6525 3655 6620 3655 20) - ElementLine (6525 3875 6525 3655 20) - ElementLine (6325 475 6600 475 40) - ElementLine (6325 575 6600 575 40) - ElementLine (6325 675 6600 675 40) - ElementLine (6325 775 6600 775 40) - ElementLine (6325 875 6600 875 40) - ElementLine (6325 975 6600 975 40) - ElementLine (6325 1075 6600 1075 40) - ElementLine (6325 1175 6600 1175 40) - ElementLine (6325 1275 6600 1275 40) - ElementLine (6325 1375 6600 1375 40) - ElementLine (6325 1475 6600 1475 40) - ElementLine (6325 1575 6600 1575 40) - ElementLine (6325 1675 6600 1675 40) - ElementLine (6325 1775 6600 1775 40) - ElementLine (6325 1875 6600 1875 40) - ElementLine (6325 1975 6600 1975 40) - ElementLine (6325 2075 6600 2075 40) - ElementLine (6325 2175 6600 2175 40) - ElementLine (6325 2275 6600 2275 40) - ElementLine (6325 2375 6600 2375 40) - ElementLine (6325 2475 6600 2475 40) - ElementLine (6325 2575 6600 2575 40) - ElementLine (6325 2675 6600 2675 40) - ElementLine (6325 2775 6600 2775 40) - ElementLine (6325 2875 6600 2875 40) - ElementLine (6325 2975 6600 2975 40) - ElementLine (6325 3075 6600 3075 40) - ElementLine (6325 3175 6600 3175 40) - ElementLine (6325 3275 6600 3275 40) - ElementLine (6325 3375 6600 3375 40) - ElementLine (6325 3475 6600 3475 40) - ElementLine (6325 3575 6600 3575 40) - Mark (6525 475) -) - -Element(0x00000000 "IRF1010N" "Q4" "IRF1010N" 5200 2735 0 100 0x00000000) -( - Pin(5300 2925 80 42 "G" "1" 0x00000101) - Pin(5400 2925 80 42 "D" "2" 0x00000001) - Pin(5500 2925 80 42 "S" "3" 0x00000001) - ElementLine (5200 2805 5600 2805 20) - ElementLine (5600 2805 5600 2985 20) - ElementLine (5600 2985 5200 2985 20) - ElementLine (5200 2985 5200 2805 20) - ElementLine (5200 2805 5600 2805 20) - ElementLine (5600 2805 5600 2865 20) - ElementLine (5600 2865 5200 2865 20) - ElementLine (5200 2865 5200 2805 20) - ElementLine (5330 2805 5330 2865 10) - ElementLine (5470 2805 5470 2865 10) - Mark (5300 2925) -) - -Element(0x00000000 "capacitor_radial" "C1" "100uFx25V" 4675 3850 2 100 0x00000000) -( - Pin(4900 3700 60 35 "1" "1" 0x00000101) - Pin(4750 3700 60 35 "2" "2" 0x00000001) - ElementArc (4825 3700 150 150 180 360 10) - Mark (4900 3700) -) - -Element(0x00000000 "R 0.25W" "R12" "1k2" 1040 2820 2 100 0x00000000) -( - Pin(1160 2800 60 35 "1" "1" 0x00000101) - Pin(760 2800 60 35 "2" "2" 0x00000001) - ElementLine (1060 2850 860 2850 20) - ElementLine (860 2850 860 2750 20) - ElementLine (860 2750 1060 2750 20) - ElementLine (1060 2750 1060 2850 20) - ElementLine (1160 2800 1060 2800 20) - ElementLine (860 2800 760 2800 20) - Mark (1160 2800) -) - -Element(0x00000000 "E22 standing" "" "E22" 5600 3525 2 100 0x00000000) -( - ElementLine (6125 3850 5075 3850 20) - ElementLine (6125 3850 6125 3200 20) - ElementLine (6125 3200 6075 3200 20) - ElementLine (6075 3200 6075 3750 20) - ElementLine (6075 3750 5875 3750 20) - ElementLine (5875 3750 5875 3200 20) - ElementLine (5875 3200 5825 3200 20) - ElementLine (5825 3200 5825 3750 20) - ElementLine (5825 3750 5375 3750 20) - ElementLine (5075 3850 5075 3200 20) - ElementLine (5075 3200 5125 3200 20) - ElementLine (5125 3200 5125 3750 20) - ElementLine (5125 3750 5325 3750 20) - ElementLine (5325 3750 5325 3200 20) - ElementLine (5325 3200 5375 3200 20) - ElementLine (5375 3200 5375 3750 20) - Mark (6125 3850) -) - -Element(0x00000000 "R 0.25W" "R9" "10k" 2820 2695 3 100 0x00000000) -( - Pin(2800 2575 60 35 "1" "1" 0x00000101) - Pin(2800 2975 60 35 "2" "2" 0x00000001) - ElementLine (2850 2675 2850 2875 20) - ElementLine (2850 2875 2750 2875 20) - ElementLine (2750 2875 2750 2675 20) - ElementLine (2750 2675 2850 2675 20) - ElementLine (2800 2575 2800 2675 20) - ElementLine (2800 2875 2800 2975 20) - Mark (2800 2575) -) - -Element(0x00000000 "+12V 1.5A voltage regulator" "U3" "7812" 5800 3790 2 100 0x00000000) -( - Pin(5700 3600 80 42 "In" "1" 0x00000101) - Pin(5600 3600 80 42 "Com" "2" 0x00000001) - Pin(5500 3600 80 42 "Out" "3" 0x00000001) - ElementLine (5530 3720 5530 3660 10) - ElementLine (5670 3720 5670 3660 10) - ElementLine (5800 3660 5800 3720 20) - ElementLine (5400 3660 5800 3660 20) - ElementLine (5400 3720 5400 3660 20) - ElementLine (5800 3720 5400 3720 20) - ElementLine (5800 3540 5800 3720 20) - ElementLine (5400 3540 5800 3540 20) - ElementLine (5400 3720 5400 3540 20) - ElementLine (5800 3720 5400 3720 20) - Mark (5700 3600) -) - -Element(0x00000000 "capacitor_radial" "C8" "1000uFx35V" 4575 3025 2 100 0x00000000) -( - Pin(4950 2775 70 42 "1" "1" 0x00000101) - Pin(4700 2775 70 42 "2" "2" 0x00000001) - ElementArc (4825 2775 250 250 180 360 10) - Mark (4950 2775) -) - -Element(0x00000000 "generic" "U11" "10MHz" 1775 3030 0 100 0x00000000) -( - Pin(1725 3200 60 35 "1" "1" 0x00000101) - Pin(1825 3200 60 35 "2" "2" 0x00000001) - Pin(1925 3200 60 35 "3" "3" 0x00000001) - Pin(2025 3200 60 35 "4" "4" 0x00000001) - Pin(2025 2900 60 35 "5" "5" 0x00000001) - Pin(1925 2900 60 35 "6" "6" 0x00000001) - Pin(1825 2900 60 35 "7" "7" 0x00000001) - Pin(1725 2900 60 35 "8" "8" 0x00000001) - ElementLine (1675 3000 1675 2850 10) - ElementLine (1675 3250 1675 3100 10) - ElementLine (2075 2850 1675 2850 10) - ElementLine (2075 3250 2075 2850 10) - ElementLine (1675 3250 2075 3250 10) - ElementArc (1675 3050 50 50 90 180 10) - Mark (1725 3200) -) - -Element(0x00000000 "connector 2x1 pins" "JP2" "XRESET" 1260 3250 3 100 0x00000000) -( - Pin(1050 3300 70 42 "1" "1" 0x00000101) - Pin(1150 3300 70 42 "2" "2" 0x00000001) - ElementLine (1100 3350 1100 3250 10) - ElementLine (1000 3350 1100 3350 10) - ElementLine (1200 3250 1000 3250 20) - ElementLine (1200 3350 1200 3250 20) - ElementLine (1000 3350 1200 3350 20) - ElementLine (1000 3250 1000 3350 20) - Mark (1050 3300) -) - -Element(0x00000000 "R 0.25W" "R14" "2k7" 3530 505 1 100 0x00000000) -( - Pin(3550 625 60 35 "1" "1" 0x00000101) - Pin(3550 225 60 35 "2" "2" 0x00000001) - ElementLine (3500 525 3500 325 20) - ElementLine (3500 325 3600 325 20) - ElementLine (3600 325 3600 525 20) - ElementLine (3600 525 3500 525 20) - ElementLine (3550 625 3550 525 20) - ElementLine (3550 325 3550 225 20) - Mark (3550 625) -) - -Element(0x00000000 "capacitor_radial" "C11" "2.2nF" 5500 2000 0 100 0x00000000) -( - Pin(5350 2100 60 35 "1" "1" 0x00000101) - Pin(5450 2100 60 35 "2" "2" 0x00000001) - ElementArc (5400 2100 100 100 0 360 10) - Mark (5350 2100) -) - -Element(0x00000000 "IRF1010N" "Q1" "IRF1010N" 5725 2260 0 100 0x00000000) -( - Pin(5825 2450 80 42 "G" "1" 0x00000101) - Pin(5925 2450 80 42 "D" "2" 0x00000001) - Pin(6025 2450 80 42 "S" "3" 0x00000001) - ElementLine (5725 2330 6125 2330 20) - ElementLine (6125 2330 6125 2510 20) - ElementLine (6125 2510 5725 2510 20) - ElementLine (5725 2510 5725 2330 20) - ElementLine (5725 2330 6125 2330 20) - ElementLine (6125 2330 6125 2390 20) - ElementLine (6125 2390 5725 2390 20) - ElementLine (5725 2390 5725 2330 20) - ElementLine (5855 2330 5855 2390 10) - ElementLine (5995 2330 5995 2390 10) - Mark (5825 2450) -) - -Element(0x00000000 "diode" "D3" "1N4007" 900 3520 3 100 0x00000000) -( - Pin(850 3300 60 35 "1" "1" 0x00000101) - Pin(850 3600 60 35 "2" "2" 0x00000001) - ElementLine (850 3300 850 3400 10) - ElementLine (850 3500 850 3600 10) - ElementLine (850 3400 900 3500 10) - ElementLine (900 3500 800 3500 10) - ElementLine (800 3500 850 3400 10) - ElementLine (900 3400 800 3400 10) - Mark (850 3300) -) - -Element(0x00000000 "capacitor_radial" "C7" "1000uFx35V" 4575 2450 2 100 0x00000000) -( - Pin(4950 2200 70 42 "1" "1" 0x00000101) - Pin(4700 2200 70 42 "2" "2" 0x00000001) - ElementArc (4825 2200 250 250 180 360 10) - Mark (4950 2200) -) - -Element(0x00000000 "LED 5mm" "D9" "Red" 765 2315 0 100 0x00000000) -( - Pin(815 2395 60 35 "-" "1" 0x00000101) - Pin(815 2495 60 35 "+" "2" 0x00000001) - ElementArc (815 2445 70 70 0 360 10) - ElementArc (815 2445 50 50 0 360 15) - Mark (815 2395) -) - -Element(0x00000000 "SUB-D female 9 pins" "J9" "DB9_female" 425 1440 3 100 0x00000000) -( - Pin(775 1240 120 100 "C1" "C1" 0x00000001) - Pin(775 2180 120 100 "C1" "C1" 0x00000001) - Pin(825 1510 70 42 "5" "5" 0x00000001) - Pin(725 1560 70 42 "9" "9" 0x00000001) - Pin(825 1610 70 42 "4" "4" 0x00000001) - Pin(725 1660 70 42 "8" "8" 0x00000001) - Pin(825 1710 70 42 "3" "3" 0x00000001) - Pin(725 1760 70 42 "7" "7" 0x00000001) - Pin(825 1810 70 42 "2" "2" 0x00000001) - Pin(725 1860 70 42 "6" "6" 0x00000001) - Pin(825 1910 70 42 "1" "1" 0x00000101) - ElementLine (825 1910 545 1910 20) - ElementLine (725 1860 545 1860 20) - ElementLine (825 1810 545 1810 20) - ElementLine (725 1760 545 1760 20) - ElementLine (825 1710 545 1710 20) - ElementLine (725 1660 545 1660 20) - ElementLine (825 1610 545 1610 20) - ElementLine (725 1560 545 1560 20) - ElementLine (825 1510 545 1510 20) - ElementLine (345 2070 345 1350 10) - ElementLine (545 2070 345 2070 20) - ElementLine (545 1350 545 2070 20) - ElementLine (345 1350 545 1350 20) - ElementLine (45 2010 45 1410 20) - ElementLine (315 2010 45 2010 20) - ElementLine (315 1410 315 2010 10) - ElementLine (45 1410 315 1410 20) - ElementLine (315 2120 345 2120 10) - ElementLine (315 2240 345 2240 10) - ElementLine (315 1300 345 1300 10) - ElementLine (315 1180 345 1180 10) - ElementLine (315 2300 315 1120 10) - ElementLine (345 2300 315 2300 10) - ElementLine (345 1120 345 2300 10) - ElementLine (315 1120 345 1120 10) - Mark (825 1510) -) - -Element(0x00000000 "generic PAL replacement" "U8" "GAL22V10" 2850 2180 0 100 0x00000000) -( - Pin(2800 2350 60 35 "CLK/I1" "1" 0x00000101) - Pin(2900 2350 60 35 "I2" "2" 0x00000001) - Pin(3000 2350 60 35 "I3" "3" 0x00000001) - Pin(3100 2350 60 35 "I4" "4" 0x00000001) - Pin(3200 2350 60 35 "I5" "5" 0x00000001) - Pin(3300 2350 60 35 "I6" "6" 0x00000001) - Pin(3400 2350 60 35 "I7" "7" 0x00000001) - Pin(3500 2350 60 35 "I8" "8" 0x00000001) - Pin(3600 2350 60 35 "I9" "9" 0x00000001) - Pin(3700 2350 60 35 "I10" "10" 0x00000001) - Pin(3800 2350 60 35 "I11" "11" 0x00000001) - Pin(3900 2350 60 35 "Gnd" "12" 0x00000001) - Pin(3900 2050 60 35 "I12" "13" 0x00000001) - Pin(3800 2050 60 35 "I/O/Qj" "14" 0x00000001) - Pin(3700 2050 60 35 "I/O/Qi" "15" 0x00000001) - Pin(3600 2050 60 35 "I/O/Qh" "16" 0x00000001) - Pin(3500 2050 60 35 "I/O/Qg" "17" 0x00000001) - Pin(3400 2050 60 35 "I/O/Qf" "18" 0x00000001) - Pin(3300 2050 60 35 "I/O/Qe" "19" 0x00000001) - Pin(3200 2050 60 35 "I/O/Qd" "20" 0x00000001) - Pin(3100 2050 60 35 "I/O/Qc" "21" 0x00000001) - Pin(3000 2050 60 35 "I/O/Qb" "22" 0x00000001) - Pin(2900 2050 60 35 "I/O/Qa" "23" 0x00000001) - Pin(2800 2050 60 35 "Vcc" "24" 0x00000001) - ElementLine (2750 2150 2750 2000 10) - ElementLine (2750 2400 2750 2250 10) - ElementLine (3950 2000 2750 2000 10) - ElementLine (3950 2400 3950 2000 10) - ElementLine (2750 2400 3950 2400 10) - ElementArc (2750 2200 50 50 90 180 10) - Mark (2800 2350) -) - -Element(0x00000000 "generic" "U6" "8254" 1450 2330 0 100 0x00000000) -( - Pin(1400 2650 60 35 "1" "1" 0x00000101) - Pin(1500 2650 60 35 "2" "2" 0x00000001) - Pin(1600 2650 60 35 "3" "3" 0x00000001) - Pin(1700 2650 60 35 "4" "4" 0x00000001) - Pin(1800 2650 60 35 "5" "5" 0x00000001) - Pin(1900 2650 60 35 "6" "6" 0x00000001) - Pin(2000 2650 60 35 "7" "7" 0x00000001) - Pin(2100 2650 60 35 "8" "8" 0x00000001) - Pin(2200 2650 60 35 "9" "9" 0x00000001) - Pin(2300 2650 60 35 "10" "10" 0x00000001) - Pin(2400 2650 60 35 "11" "11" 0x00000001) - Pin(2500 2650 60 35 "12" "12" 0x00000001) - Pin(2500 2050 60 35 "13" "13" 0x00000001) - Pin(2400 2050 60 35 "14" "14" 0x00000001) - Pin(2300 2050 60 35 "15" "15" 0x00000001) - Pin(2200 2050 60 35 "16" "16" 0x00000001) - Pin(2100 2050 60 35 "17" "17" 0x00000001) - Pin(2000 2050 60 35 "18" "18" 0x00000001) - Pin(1900 2050 60 35 "19" "19" 0x00000001) - Pin(1800 2050 60 35 "20" "20" 0x00000001) - Pin(1700 2050 60 35 "21" "21" 0x00000001) - Pin(1600 2050 60 35 "22" "22" 0x00000001) - Pin(1500 2050 60 35 "23" "23" 0x00000001) - Pin(1400 2050 60 35 "24" "24" 0x00000001) - ElementLine (1350 2300 1350 2000 10) - ElementLine (1350 2700 1350 2400 10) - ElementLine (2550 2000 1350 2000 10) - ElementLine (2550 2700 2550 2000 10) - ElementLine (1350 2700 2550 2700 10) - ElementArc (1350 2350 50 50 90 180 10) - Mark (1400 2650) -) - -Element(0x00000000 "connector 2x4 pins" "JP1" "ADDRESS" 4410 2000 3 100 0x00000000) -( - Pin(4200 2050 70 42 "1" "1" 0x00000101) - Pin(4300 2050 70 42 "2" "2" 0x00000001) - Pin(4200 2150 70 42 "3" "3" 0x00000001) - Pin(4300 2150 70 42 "4" "4" 0x00000001) - Pin(4200 2250 70 42 "5" "5" 0x00000001) - Pin(4300 2250 70 42 "6" "6" 0x00000001) - Pin(4200 2350 70 42 "7" "7" 0x00000001) - Pin(4300 2350 70 42 "8" "8" 0x00000001) - ElementLine (4150 2000 4150 2400 20) - ElementLine (4150 2400 4350 2400 20) - ElementLine (4350 2400 4350 2000 20) - ElementLine (4350 2000 4150 2000 20) - ElementLine (4150 2100 4250 2100 10) - ElementLine (4250 2100 4250 2000 10) - Mark (4200 2050) -) - -Element(0x00000000 "capacitor_radial" "C4" "10uFx25V" 3325 3625 0 100 0x00000000) -( - Pin(3175 3725 60 35 "1" "1" 0x00000101) - Pin(3275 3725 60 35 "2" "2" 0x00000001) - ElementArc (3225 3725 100 100 0 360 10) - Mark (3175 3725) -) - -Element(0x00000000 "generic" "U7" "HCTL-2016" 2500 405 0 100 0x00000000) -( - Pin(2450 575 60 35 "1" "1" 0x00000101) - Pin(2550 575 60 35 "2" "2" 0x00000001) - Pin(2650 575 60 35 "3" "3" 0x00000001) - Pin(2750 575 60 35 "4" "4" 0x00000001) - Pin(2850 575 60 35 "5" "5" 0x00000001) - Pin(2950 575 60 35 "6" "6" 0x00000001) - Pin(3050 575 60 35 "7" "7" 0x00000001) - Pin(3150 575 60 35 "8" "8" 0x00000001) - Pin(3150 275 60 35 "9" "9" 0x00000001) - Pin(3050 275 60 35 "10" "10" 0x00000001) - Pin(2950 275 60 35 "11" "11" 0x00000001) - Pin(2850 275 60 35 "12" "12" 0x00000001) - Pin(2750 275 60 35 "13" "13" 0x00000001) - Pin(2650 275 60 35 "14" "14" 0x00000001) - Pin(2550 275 60 35 "15" "15" 0x00000001) - Pin(2450 275 60 35 "16" "16" 0x00000001) - ElementLine (2400 375 2400 225 10) - ElementLine (2400 625 2400 475 10) - ElementLine (3200 225 2400 225 10) - ElementLine (3200 625 3200 225 10) - ElementLine (2400 625 3200 625 10) - ElementArc (2400 425 50 50 90 180 10) - Mark (2450 575) -) - -Element(0x00000000 "IRF1010N" "Q2" "IRF1010N" 5200 2260 0 100 0x00000000) -( - Pin(5300 2450 80 42 "G" "1" 0x00000101) - Pin(5400 2450 80 42 "D" "2" 0x00000001) - Pin(5500 2450 80 42 "S" "3" 0x00000001) - ElementLine (5200 2330 5600 2330 20) - ElementLine (5600 2330 5600 2510 20) - ElementLine (5600 2510 5200 2510 20) - ElementLine (5200 2510 5200 2330 20) - ElementLine (5200 2330 5600 2330 20) - ElementLine (5600 2330 5600 2390 20) - ElementLine (5600 2390 5200 2390 20) - ElementLine (5200 2390 5200 2330 20) - ElementLine (5330 2330 5330 2390 10) - ElementLine (5470 2330 5470 2390 10) - Mark (5300 2450) -) - -Element(0x00000000 "LED 5mm" "D10" "Green" 525 2315 0 100 0x00000000) -( - Pin(575 2395 60 35 "-" "1" 0x00000101) - Pin(575 2495 60 35 "+" "2" 0x00000001) - ElementArc (575 2445 50 50 0 360 15) - ElementArc (575 2445 70 70 0 360 10) - Mark (575 2395) -) - -Element(0x00000000 "diode" "D1" "1N4148" 1625 3645 3 100 0x00000000) -( - Pin(1575 3425 60 35 "1" "1" 0x00000101) - Pin(1575 3725 60 35 "2" "2" 0x00000001) - ElementLine (1625 3525 1525 3525 10) - ElementLine (1525 3625 1575 3525 10) - ElementLine (1625 3625 1525 3625 10) - ElementLine (1575 3525 1625 3625 10) - ElementLine (1575 3625 1575 3725 10) - ElementLine (1575 3425 1575 3525 10) - Mark (1575 3425) -) - -Element(0x00000000 "R 0.25W" "R4" "390" 5555 505 1 100 0x00000000) -( - Pin(5575 625 60 35 "1" "1" 0x00000101) - Pin(5575 225 60 35 "2" "2" 0x00000001) - ElementLine (5525 525 5525 325 20) - ElementLine (5525 325 5625 325 20) - ElementLine (5625 325 5625 525 20) - ElementLine (5625 525 5525 525 20) - ElementLine (5575 625 5575 525 20) - ElementLine (5575 325 5575 225 20) - Mark (5575 625) -) - -Element(0x00000000 "optical coupling device" "U13" "6N137" 4025 405 0 100 0x00000000) -( - Pin(3975 575 60 35 "NC" "1" 0x00000101) - Pin(4075 575 60 35 "A+" "2" 0x00000001) - Pin(4175 575 60 35 "K-" "3" 0x00000001) - Pin(4275 575 60 35 "NC" "4" 0x00000001) - Pin(4275 275 60 35 "Gnd" "5" 0x00000001) - Pin(4175 275 60 35 "Out" "6" 0x00000001) - Pin(4075 275 60 35 "En" "7" 0x00000001) - Pin(3975 275 60 35 "Vcc" "8" 0x00000001) - ElementLine (3925 375 3925 225 10) - ElementLine (3925 625 3925 475 10) - ElementLine (4325 225 3925 225 10) - ElementLine (4325 625 4325 225 10) - ElementLine (3925 625 4325 625 10) - ElementArc (3925 425 50 50 90 180 10) - Mark (3975 575) -) - -Element(0x00000000 "optical coupling device" "U14" "6N137" 4925 1005 0 100 0x00000000) -( - Pin(4875 1175 60 35 "NC" "1" 0x00000101) - Pin(4975 1175 60 35 "A+" "2" 0x00000001) - Pin(5075 1175 60 35 "K-" "3" 0x00000001) - Pin(5175 1175 60 35 "NC" "4" 0x00000001) - Pin(5175 875 60 35 "Gnd" "5" 0x00000001) - Pin(5075 875 60 35 "Out" "6" 0x00000001) - Pin(4975 875 60 35 "En" "7" 0x00000001) - Pin(4875 875 60 35 "Vcc" "8" 0x00000001) - ElementLine (4825 975 4825 825 10) - ElementLine (4825 1225 4825 1075 10) - ElementLine (5225 825 4825 825 10) - ElementLine (5225 1225 5225 825 10) - ElementLine (4825 1225 5225 1225 10) - ElementArc (4825 1025 50 50 90 180 10) - Mark (4875 1175) -) - -Element(0x00000000 "R 0.25W" "R5" "390" 5355 1105 1 100 0x00000000) -( - Pin(5375 1225 60 35 "1" "1" 0x00000101) - Pin(5375 825 60 35 "2" "2" 0x00000001) - ElementLine (5325 1125 5325 925 20) - ElementLine (5325 925 5425 925 20) - ElementLine (5425 925 5425 1125 20) - ElementLine (5425 1125 5325 1125 20) - ElementLine (5375 1225 5375 1125 20) - ElementLine (5375 925 5375 825 20) - Mark (5375 1225) -) - -Element(0x00000000 "R 0.25W" "R6" "2k2" 4655 1105 1 100 0x00000000) -( - Pin(4675 1225 60 35 "1" "1" 0x00000101) - Pin(4675 825 60 35 "2" "2" 0x00000001) - ElementLine (4625 1125 4625 925 20) - ElementLine (4625 925 4725 925 20) - ElementLine (4725 925 4725 1125 20) - ElementLine (4725 1125 4625 1125 20) - ElementLine (4675 1225 4675 1125 20) - ElementLine (4675 925 4675 825 20) - Mark (4675 1225) -) - -Element(0x00000000 "R 0.25W" "R2" "2k2" 4655 505 1 100 0x00000000) -( - Pin(4675 625 60 35 "1" "1" 0x00000101) - Pin(4675 225 60 35 "2" "2" 0x00000001) - ElementLine (4625 525 4625 325 20) - ElementLine (4625 325 4725 325 20) - ElementLine (4725 325 4725 525 20) - ElementLine (4725 525 4625 525 20) - ElementLine (4675 625 4675 525 20) - ElementLine (4675 325 4675 225 20) - Mark (4675 625) -) - -Element(0x00000000 "optical coupling device" "U12" "6N137" 4925 405 0 100 0x00000000) -( - Pin(4875 575 60 35 "NC" "1" 0x00000101) - Pin(4975 575 60 35 "A+" "2" 0x00000001) - Pin(5075 575 60 35 "K-" "3" 0x00000001) - Pin(5175 575 60 35 "NC" "4" 0x00000001) - Pin(5175 275 60 35 "Gnd" "5" 0x00000001) - Pin(5075 275 60 35 "Out" "6" 0x00000001) - Pin(4975 275 60 35 "En" "7" 0x00000001) - Pin(4875 275 60 35 "Vcc" "8" 0x00000001) - ElementLine (4825 375 4825 225 10) - ElementLine (4825 625 4825 475 10) - ElementLine (5225 225 4825 225 10) - ElementLine (5225 625 5225 225 10) - ElementLine (4825 625 5225 625 10) - ElementArc (4825 425 50 50 90 180 10) - Mark (4875 575) -) - -Element(0x00000000 "R 0.25W" "R1" "390" 5355 505 1 100 0x00000000) -( - Pin(5375 625 60 35 "1" "1" 0x00000101) - Pin(5375 225 60 35 "2" "2" 0x00000001) - ElementLine (5325 525 5325 325 20) - ElementLine (5325 325 5425 325 20) - ElementLine (5425 325 5425 525 20) - ElementLine (5425 525 5325 525 20) - ElementLine (5375 625 5375 525 20) - ElementLine (5375 325 5375 225 20) - Mark (5375 625) -) - -Element(0x00000000 "R 0.25W" "R8" "390" 5555 1105 1 100 0x00000000) -( - Pin(5575 1225 60 35 "1" "1" 0x00000101) - Pin(5575 825 60 35 "2" "2" 0x00000001) - ElementLine (5525 1125 5525 925 20) - ElementLine (5525 925 5625 925 20) - ElementLine (5625 925 5625 1125 20) - ElementLine (5625 1125 5525 1125 20) - ElementLine (5575 1225 5575 1125 20) - ElementLine (5575 925 5575 825 20) - Mark (5575 1225) -) - -Element(0x00000000 "optical coupling device" "U15" "6N137" 4025 1005 0 100 0x00000000) -( - Pin(3975 1175 60 35 "NC" "1" 0x00000101) - Pin(4075 1175 60 35 "A+" "2" 0x00000001) - Pin(4175 1175 60 35 "K-" "3" 0x00000001) - Pin(4275 1175 60 35 "NC" "4" 0x00000001) - Pin(4275 875 60 35 "Gnd" "5" 0x00000001) - Pin(4175 875 60 35 "Out" "6" 0x00000001) - Pin(4075 875 60 35 "En" "7" 0x00000001) - Pin(3975 875 60 35 "Vcc" "8" 0x00000001) - ElementLine (3925 975 3925 825 10) - ElementLine (3925 1225 3925 1075 10) - ElementLine (4325 825 3925 825 10) - ElementLine (4325 1225 4325 825 10) - ElementLine (3925 1225 4325 1225 10) - ElementArc (3925 1025 50 50 90 180 10) - Mark (3975 1175) -) - -Element(0x00000000 "R 0.25W" "R7" "2k2" 4455 1105 1 100 0x00000000) -( - Pin(4475 1225 60 35 "1" "1" 0x00000101) - Pin(4475 825 60 35 "2" "2" 0x00000001) - ElementLine (4425 1125 4425 925 20) - ElementLine (4425 925 4525 925 20) - ElementLine (4525 925 4525 1125 20) - ElementLine (4525 1125 4425 1125 20) - ElementLine (4475 1225 4475 1125 20) - ElementLine (4475 925 4475 825 20) - Mark (4475 1225) -) - -Element(0x00000000 "+5V 1.5A voltage regulator" "U2" "7805" 4250 3790 2 100 0x00000000) -( - Pin(4150 3600 80 42 "In" "1" 0x00000101) - Pin(4050 3600 80 42 "Com" "2" 0x00000001) - Pin(3950 3600 80 42 "Out" "3" 0x00000001) - ElementLine (3980 3720 3980 3660 10) - ElementLine (4120 3720 4120 3660 10) - ElementLine (4250 3660 4250 3720 20) - ElementLine (3850 3660 4250 3660 20) - ElementLine (3850 3720 3850 3660 20) - ElementLine (4250 3720 3850 3720 20) - ElementLine (4250 3540 4250 3720 20) - ElementLine (3850 3540 4250 3540 20) - ElementLine (3850 3720 3850 3540 20) - ElementLine (4250 3720 3850 3720 20) - Mark (4150 3600) -) - -Element(0x00000000 "diode" "D2" "1N4148" 3025 3645 3 100 0x00000000) -( - Pin(2975 3425 60 35 "1" "1" 0x00000101) - Pin(2975 3725 60 35 "2" "2" 0x00000001) - ElementLine (3025 3525 2925 3525 10) - ElementLine (2925 3625 2975 3525 10) - ElementLine (3025 3625 2925 3625 10) - ElementLine (2975 3525 3025 3625 10) - ElementLine (2975 3625 2975 3725 10) - ElementLine (2975 3425 2975 3525 10) - Mark (2975 3425) -) - -Element(0x00000000 "R 0.25W" "R13" "2k7" 3330 505 1 100 0x00000000) -( - Pin(3350 625 60 35 "1" "1" 0x00000101) - Pin(3350 225 60 35 "2" "2" 0x00000001) - ElementLine (3300 525 3300 325 20) - ElementLine (3300 325 3400 325 20) - ElementLine (3400 325 3400 525 20) - ElementLine (3400 525 3300 525 20) - ElementLine (3350 625 3350 525 20) - ElementLine (3350 325 3350 225 20) - Mark (3350 625) -) + SymbolLine(0 35 5 30 8) + SymbolLine(5 30 10 30 8) + SymbolLine(10 30 15 35 8) + SymbolLine(15 35 20 35 8) + SymbolLine(20 35 25 30 8) +) +Via[340000 237500 12000 2000 0 5500 "" ""] +Via[497500 370000 9000 2000 0 3500 "" ""] +Via[552500 237500 12000 2000 0 5500 "" ""] +Via[102500 130000 4000 2000 0 2000 "" ""] +Via[615000 287500 10500 2000 0 5500 "" ""] +Via[280000 87500 6000 2000 0 3500 "" ""] +Via[365000 317500 4000 2000 0 2000 "" ""] +Via[242500 165000 6000 2000 0 3500 "" ""] +Via[432500 350000 6000 2000 0 3500 "" ""] +Via[282500 245000 4000 2000 0 2000 "" ""] +Via[240000 330000 6000 2000 0 3500 "" ""] +Via[315000 280000 4000 2000 0 2000 "" ""] +Via[177500 285000 6000 2000 0 3500 "" ""] +Via[372500 370000 9000 2000 0 3500 "" ""] +Via[427500 17500 4000 2000 0 2000 "" ""] +Via[400000 325000 6000 2000 0 3500 "" ""] +Via[152500 62500 6000 2000 0 3500 "" ""] +Via[402500 17500 4000 2000 0 2000 "" ""] +Via[497500 267500 9000 2000 0 3500 "" ""] +Via[615000 222500 12000 2000 0 5500 "" ""] +Via[195000 380000 6000 2000 0 3500 "" ""] +Via[217500 222500 6000 2000 0 3500 "" ""] +Via[360000 227500 4000 2000 0 2000 "" ""] +Via[87500 135000 4000 2000 0 2000 "" ""] +Via[247500 17500 4000 2000 0 2000 "" ""] +Via[367500 92500 4000 2000 0 2000 "" ""] +Via[225000 187500 4000 2000 0 2000 "" ""] +Via[225000 170000 4000 2000 0 2000 "" ""] +Via[442500 65000 4000 2000 0 2000 "" ""] +Via[352500 170000 4000 2000 0 2000 "" ""] +Via[507500 140000 4000 2000 0 2000 "" ""] +Via[345000 142500 4000 2000 0 2000 "" ""] +Via[507500 115000 4000 2000 0 2000 "" ""] +Via[187500 175000 6000 2000 0 3500 "" ""] +Via[315000 142500 4000 2000 0 2000 "" ""] +Via[477500 22500 4000 2000 0 2000 "" ""] +Via[477500 115000 4000 2000 0 2000 "" ""] +Via[417500 40000 4000 2000 0 2000 "" ""] +Via[295000 135000 4000 2000 0 2000 "" ""] +Via[472500 87500 6000 2000 0 3500 "" ""] +Via[155000 367500 4000 2000 0 2000 "" ""] +Via[360000 150000 4000 2000 0 2000 "" ""] +Via[425000 115000 4000 2000 0 2000 "" ""] +Via[205000 357500 4000 2000 0 2000 "" ""] +Via[547500 52500 4000 2000 0 2000 "" ""] +Via[532500 57500 4000 2000 0 2000 "" ""] +Via[562500 62500 4000 2000 0 2000 "" ""] +Via[332500 175000 4000 2000 0 2000 "" ""] +Via[492500 175000 4000 2000 0 2000 "" ""] +Via[210000 40000 4000 2000 0 2000 "" ""] +Via[602500 157500 9000 2000 0 3500 "" ""] +Via[592500 115000 4000 2000 0 2000 "" ""] +Via[482500 150000 4000 2000 0 2000 "" ""] +Via[477500 105000 4000 2000 0 2000 "" ""] +Via[160000 187500 4000 2000 0 2000 "" ""] +Via[480000 110000 4000 2000 0 2000 "" ""] +Via[92500 140000 4000 2000 0 2000 "" ""] +Via[397500 142500 4000 2000 0 2000 "" ""] +Via[442500 17500 4000 2000 0 2000 "" ""] +Via[400000 165000 6000 2000 0 3500 "" ""] +Via[365000 155000 4000 2000 0 2000 "" ""] +Via[417500 10000 4000 2000 0 2000 "" ""] +Via[565000 160000 4000 2000 0 2000 "" ""] +Via[262500 107500 6000 2000 0 3500 "" ""] +Via[435000 45000 4000 2000 0 2000 "" ""] +Via[160000 75000 6000 2000 0 3500 "" ""] +Via[305000 140000 4000 2000 0 2000 "" ""] +Via[442500 115000 4000 2000 0 2000 "" ""] +Via[102500 112500 4000 2000 0 2000 "" ""] +Via[377500 82500 4000 2000 0 2000 "" ""] +Via[352500 117500 4000 2000 0 2000 "" ""] +Via[350000 122500 4000 2000 0 2000 "" ""] +Via[372500 150000 4000 2000 0 2000 "" ""] +Via[225000 292500 6000 2000 0 3500 "" ""] +Via[310000 92500 4000 2000 0 2000 "" ""] +Via[520000 70000 6000 2000 0 3500 "" ""] +Via[385000 165000 6000 2000 0 3500 "" ""] +Via[187500 107500 6000 2000 0 3500 "" ""] +Via[215000 362500 4000 2000 0 2000 "" ""] +Via[225000 312500 6000 2000 0 3500 "" ""] +Via[432500 182500 5500 2000 0 3500 "" ""] +Via[252500 285000 6000 2000 0 3500 "" ""] +Via[285000 107500 4000 2000 0 2000 "" ""] +Via[225000 367500 4000 2000 0 2000 "" ""] +Via[242500 285000 6000 2000 0 3500 "" ""] +Via[545000 347500 6000 2000 0 3500 "" ""] +Via[377500 112500 4000 2000 0 2000 "" ""] +Via[302500 87500 6000 2000 0 3500 "" ""] +Via[295000 60000 6000 2000 0 3500 "" ""] +Via[177500 165000 6000 2000 0 3500 "" ""] +Via[315000 135000 4000 2000 0 2000 "" ""] +Via[325000 160000 4000 2000 0 2000 "" ""] +Via[190000 275000 7000 2000 0 3500 "" ""] +Via[527500 85000 4000 2000 0 2000 "" ""] +Via[252500 312500 6000 2000 0 3500 "" ""] +Via[532500 87500 4000 2000 0 2000 "" ""] +Via[545000 145000 4000 2000 0 2000 "" ""] +Via[557500 172500 4000 2000 0 2000 "" ""] +Via[612500 87500 4000 2000 0 2000 "" ""] +Via[615000 107500 6000 2000 0 3500 "" ""] +Via[200000 150000 4000 2000 0 2000 "" ""] +Via[385000 340000 6000 2000 0 3500 "" ""] +Via[472500 165000 6000 2000 0 3500 "" ""] +Via[155000 275000 4000 2000 0 2000 "" ""] +Via[165000 357500 4000 2000 0 2000 "" ""] +Via[160000 362500 4000 2000 0 2000 "" ""] +Via[262500 202500 6000 2000 0 3500 "" ""] +Via[262500 175000 6000 2000 0 3500 "" ""] +Via[152500 182500 6000 2000 0 3500 "" ""] +Via[605000 350000 6000 2000 0 3500 "" ""] +Via[200000 122500 4000 2000 0 2000 "" ""] +Via[207500 255000 6000 2000 0 3500 "" ""] +Via[517500 165000 6000 2000 0 3500 "" ""] +Via[160000 165000 6000 2000 0 3500 "" ""] +Via[552500 340000 8000 2000 0 3500 "" ""] +Via[392500 332500 8000 2000 0 3500 "" ""] +Via[387500 142500 8500 2000 0 3500 "" ""] +Via[270000 122500 7000 2000 0 3500 "" ""] +Via[360000 142500 8500 2000 0 3500 "" ""] +Via[592500 252500 12000 2000 0 5500 "" ""] +Via[532500 392500 11500 2000 0 5500 "" ""] +Via[410000 70000 9000 2000 0 3500 "" ""] +Via[270000 30000 9000 2000 0 3500 "" ""] +Via[532500 252500 12000 2000 0 5500 "" ""] +Via[360000 30000 9000 2000 0 3500 "" ""] +Via[460000 70000 6000 2000 0 2000 "" ""] +Via[190000 312500 9000 2000 0 3500 "" ""] +Via[270000 150000 6500 2000 0 3500 "" ""] +Via[327500 30000 9000 2000 0 3500 "" ""] +Via[160000 125000 6000 2000 0 3500 "" ""] +Via[335000 37500 4000 2000 0 2000 "" ""] + +Element["" "LED5" "D3" "GREEN" 62500 212500 11436 -16170 0 100 ""] +( + Pin[0 5000 6500 3000 7100 4300 "1" "1" "square"] + Pin[0 -5000 6500 3000 7100 4300 "2" "2" ""] + ElementArc [0 0 11800 11800 90 360 1000] + ElementArc [0 0 13800 13800 90 360 1000] + + ) + +Element["" "RCY100P" "C7" "1uFx16V" 280000 75000 15000 -10000 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"] + Pin[10000 0 6000 3000 6600 3500 "2" "2" "edge2"] + ElementLine [-9000 0 -4000 0 1000] + ElementLine [-6500 -2500 -6500 2500 1000] + ElementArc [5000 0 10000 10000 0 360 1000] + + ) + +Element["" "ACY400" "R6" "470" 425000 105000 -2725 -18795 0 100 ""] +( + Pin[0 -10000 6000 3000 6600 3500 "1" "1" "square"] + Pin[0 30000 6000 3000 6600 3500 "2" "2" ""] + ElementLine [0 -10000 0 0 1000] + ElementLine [0 20000 0 30000 1000] + ElementLine [3300 0 3300 20000 1000] + ElementLine [-3300 20000 3300 20000 1000] + ElementLine [-3300 0 -3300 20000 1000] + ElementLine [-3300 0 3300 0 1000] + + ) + +Element["" "TO220W" "Q4" "unknown" 350000 285000 -11929 17736 0 100 ""] +( + Pin[0 0 8000 3000 8600 4200 "1" "1" "square,edge2"] + Pin[-10000 0 8000 3000 8600 4200 "2" "2" "edge2"] + Pin[-20000 0 8000 3000 8600 4200 "3" "3" "edge2"] + ElementLine [-30000 12000 10000 12000 2000] + ElementLine [-30000 -6000 -30000 12000 2000] + ElementLine [-30000 -6000 10000 -6000 2000] + ElementLine [10000 -6000 10000 12000 2000] + ElementLine [-30000 12000 10000 12000 2000] + ElementLine [-30000 6000 -30000 12000 2000] + ElementLine [-30000 6000 10000 6000 2000] + ElementLine [10000 6000 10000 12000 2000] + ElementLine [-3000 6000 -3000 12000 1000] + ElementLine [-17000 6000 -17000 12000 1000] + + ) + +Element["" "Axial diode (pin 1 is cathode)" "D5" "ALF400" 217500 175000 -11300 -11482 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "2" "2" "square,edge2"] + Pin[-40000 0 6000 3000 6600 3500 "1" "1" "edge2"] + ElementLine [-13300 -6600 -13300 6600 1000] + ElementLine [-26700 -6600 -13300 0 1000] + ElementLine [-26700 -6600 -26700 6600 1000] + ElementLine [-13300 0 -26700 6600 1000] + ElementLine [-40000 0 -26700 0 1000] + ElementLine [-13300 0 0 0 1000] + + ) + +Element["" "E22 standing" "" "E22" 520000 385000 -52500 -32500 2 100 ""] +( + ElementLine [-75000 -65000 -75000 -10000 2000] + ElementLine [-80000 -65000 -75000 -65000 2000] + ElementLine [-80000 -65000 -80000 -10000 2000] + ElementLine [-100000 -10000 -80000 -10000 2000] + ElementLine [-100000 -65000 -100000 -10000 2000] + ElementLine [-105000 -65000 -100000 -65000 2000] + ElementLine [-105000 -65000 -105000 0 2000] + ElementLine [-75000 -10000 -30000 -10000 2000] + ElementLine [-30000 -65000 -30000 -10000 2000] + ElementLine [-30000 -65000 -25000 -65000 2000] + ElementLine [-25000 -65000 -25000 -10000 2000] + ElementLine [-25000 -10000 -5000 -10000 2000] + ElementLine [-5000 -65000 -5000 -10000 2000] + ElementLine [-5000 -65000 0 -65000 2000] + ElementLine [0 -65000 0 0 2000] + ElementLine [-105000 0 0 0 2000] + + ) + +Element["" "Bottom lead polar circular component (typically capacitor)" "C11" "RCY100P" 287500 150000 5748 -10571 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"] + Pin[-10000 0 6000 3000 6600 3500 "2" "2" "edge2"] + ElementLine [6500 -2500 6500 2500 1000] + ElementLine [4000 0 9000 0 1000] + ElementArc [-5000 0 10000 10000 180 360 1000] + + ) + +Element["" "Axial non-polar component (typically resistor or capacitor)," "R14" "ACY400" 207500 150000 838 -9701 0 100 ""] +( + Pin[10000 0 5500 3000 6100 3000 "1" "1" "square,edge2"] + Pin[-30000 0 5500 3000 6100 3000 "2" "2" "edge2"] + ElementLine [0 -3300 0 3300 1000] + ElementLine [-20000 -3300 0 -3300 1000] + ElementLine [-20000 -3300 -20000 3300 1000] + ElementLine [-20000 3300 0 3300 1000] + ElementLine [-30000 0 -20000 0 1000] + ElementLine [0 0 10000 0 1000] + + ) + +Element["" "LED5" "D1" "RED" 62500 287500 11397 -16209 0 100 ""] +( + Pin[0 5000 6500 3000 7100 4300 "1" "1" "square"] + Pin[0 -5000 6500 3000 7100 4300 "2" "2" ""] + ElementArc [0 0 11800 11800 90 360 1000] + ElementArc [0 0 13800 13800 90 360 1000] + + ) + +Element["" "DIP8" "U8" "unknown" 225000 75000 5000 -17000 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square"] + Pin[10000 0 6000 3000 6600 2800 "2" "2" ""] + Pin[20000 0 6000 3000 6600 2800 "3" "3" ""] + Pin[30000 0 6000 3000 6600 2800 "4" "4" ""] + Pin[30000 -30000 6000 3000 6600 2800 "5" "5" ""] + Pin[20000 -30000 6000 3000 6600 2800 "6" "6" ""] + Pin[10000 -30000 6000 3000 6600 2800 "7" "7" ""] + Pin[0 -30000 6000 3000 6600 2800 "8" "8" ""] + ElementLine [-5000 5000 35000 5000 1000] + ElementLine [35000 -35000 35000 5000 1000] + ElementLine [-5000 -35000 35000 -35000 1000] + ElementLine [-5000 -10000 -5000 5000 1000] + ElementLine [-5000 -35000 -5000 -20000 1000] + ElementArc [-5000 -15000 5000 5000 90 180 1000] + + ) + +Element["" "RCY100P" "C19" "4.7uFx16V" 242500 150000 15000 -10000 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"] + Pin[10000 0 6000 3000 6600 3500 "2" "2" "edge2"] + ElementLine [-9000 0 -4000 0 1000] + ElementLine [-6500 -2500 -6500 2500 1000] + ElementArc [5000 0 10000 10000 0 360 1000] + + ) + +Element["" "E22 standing" "" "E22" 392500 385000 -52500 -32500 2 100 ""] +( + ElementLine [-75000 -65000 -75000 -10000 2000] + ElementLine [-80000 -65000 -75000 -65000 2000] + ElementLine [-80000 -65000 -80000 -10000 2000] + ElementLine [-100000 -10000 -80000 -10000 2000] + ElementLine [-100000 -65000 -100000 -10000 2000] + ElementLine [-105000 -65000 -100000 -65000 2000] + ElementLine [-105000 -65000 -105000 0 2000] + ElementLine [-75000 -10000 -30000 -10000 2000] + ElementLine [-30000 -65000 -30000 -10000 2000] + ElementLine [-30000 -65000 -25000 -65000 2000] + ElementLine [-25000 -65000 -25000 -10000 2000] + ElementLine [-25000 -10000 -5000 -10000 2000] + ElementLine [-5000 -65000 -5000 -10000 2000] + ElementLine [-5000 -65000 0 -65000 2000] + ElementLine [0 -65000 0 0 2000] + ElementLine [-105000 0 0 0 2000] + + ) + +Element["" "Radial lead circular non-polar component (typically capacitor)," "C26" "RCI200" 197500 30000 -14094 -11968 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"] + Pin[-20000 0 6000 3000 6600 2800 "2" "2" "edge2"] + ElementLine [-20000 -5000 0 -5000 1000] + ElementLine [-20000 5000 0 5000 1000] + ElementArc [-20000 0 5000 5000 270 180 1000] + ElementArc [0 0 5000 5000 90 180 1000] + + ) + +Element["" "TO220W" "Q1" "unknown" 477500 360000 -11024 17343 0 100 ""] +( + Pin[0 0 8000 3000 8600 4200 "1" "1" "square,edge2"] + Pin[-10000 0 8000 3000 8600 4200 "2" "2" "edge2"] + Pin[-20000 0 8000 3000 8600 4200 "3" "3" "edge2"] + ElementLine [-30000 12000 10000 12000 2000] + ElementLine [-30000 -6000 -30000 12000 2000] + ElementLine [-30000 -6000 10000 -6000 2000] + ElementLine [10000 -6000 10000 12000 2000] + ElementLine [-30000 12000 10000 12000 2000] + ElementLine [-30000 6000 -30000 12000 2000] + ElementLine [-30000 6000 10000 6000 2000] + ElementLine [10000 6000 10000 12000 2000] + ElementLine [-3000 6000 -3000 12000 1000] + ElementLine [-17000 6000 -17000 12000 1000] + + ) + +Element["" "Bottom lead polar circular component (typically capacitor)" "C13" "RCY100P" 290000 50000 1870 -14822 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"] + Pin[-10000 0 6000 3000 6600 3500 "2" "2" "edge2"] + ElementLine [6500 -2500 6500 2500 1000] + ElementLine [4000 0 9000 0 1000] + ElementArc [-5000 0 10000 10000 180 360 1000] + + ) + +Element["" "TO220W" "U1" "unknown" 350000 360000 -11929 17342 0 100 ""] +( + Pin[0 0 8000 3000 8600 4200 "1" "1" "square,edge2"] + Pin[-10000 0 8000 3000 8600 4200 "2" "2" "edge2"] + Pin[-20000 0 8000 3000 8600 4200 "3" "3" "edge2"] + ElementLine [-30000 12000 10000 12000 2000] + ElementLine [-30000 -6000 -30000 12000 2000] + ElementLine [-30000 -6000 10000 -6000 2000] + ElementLine [10000 -6000 10000 12000 2000] + ElementLine [-30000 12000 10000 12000 2000] + ElementLine [-30000 6000 -30000 12000 2000] + ElementLine [-30000 6000 10000 6000 2000] + ElementLine [10000 6000 10000 12000 2000] + ElementLine [-3000 6000 -3000 12000 1000] + ElementLine [-17000 6000 -17000 12000 1000] + + ) + +Element["" "Bottom lead polar circular component (typically capacitor)" "C1" "RCY100P" 615000 370000 7934 -9567 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "1" "1" "square"] + Pin[0 10000 6000 3000 6600 3500 "2" "2" ""] + ElementLine [-2500 -6500 2500 -6500 1000] + ElementLine [0 -9000 0 -4000 1000] + ElementArc [0 5000 10000 10000 270 360 1000] + + ) + +Element["" "ACY400" "R13" "1k5" 460000 50000 -4143 -20448 0 100 ""] +( + Pin[0 -10000 6000 3000 6600 3500 "1" "1" "square"] + Pin[0 30000 6000 3000 6600 3500 "2" "2" ""] + ElementLine [0 -10000 0 0 1000] + ElementLine [0 20000 0 30000 1000] + ElementLine [3300 0 3300 20000 1000] + ElementLine [-3300 20000 3300 20000 1000] + ElementLine [-3300 0 -3300 20000 1000] + ElementLine [-3300 0 3300 0 1000] + + ) + +Element["" "E22 standing" "" "E22" 392500 310000 -52500 -32500 2 100 ""] +( + ElementLine [-75000 -65000 -75000 -10000 2000] + ElementLine [-80000 -65000 -75000 -65000 2000] + ElementLine [-80000 -65000 -80000 -10000 2000] + ElementLine [-100000 -10000 -80000 -10000 2000] + ElementLine [-100000 -65000 -100000 -10000 2000] + ElementLine [-105000 -65000 -100000 -65000 2000] + ElementLine [-105000 -65000 -105000 0 2000] + ElementLine [-75000 -10000 -30000 -10000 2000] + ElementLine [-30000 -65000 -30000 -10000 2000] + ElementLine [-30000 -65000 -25000 -65000 2000] + ElementLine [-25000 -65000 -25000 -10000 2000] + ElementLine [-25000 -10000 -5000 -10000 2000] + ElementLine [-5000 -65000 -5000 -10000 2000] + ElementLine [-5000 -65000 0 -65000 2000] + ElementLine [0 -65000 0 0 2000] + ElementLine [-105000 0 0 0 2000] + + ) + +Element["" "Bottom lead polar circular component (typically capacitor)" "C10" "RCY100P" 315000 45000 4311 -9763 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "1" "1" "square"] + Pin[0 10000 6000 3000 6600 3500 "2" "2" ""] + ElementLine [-2500 -6500 2500 -6500 1000] + ElementLine [0 -9000 0 -4000 1000] + ElementArc [0 5000 10000 10000 270 360 1000] + + ) + +Element["" "DIP16" "U6" "unknown" 280000 130000 5000 -17000 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"] + Pin[10000 0 6000 3000 6600 2800 "2" "2" "edge2"] + Pin[20000 0 6000 3000 6600 2800 "3" "3" "edge2"] + Pin[30000 0 6000 3000 6600 2800 "4" "4" "edge2"] + Pin[40000 0 6000 3000 6600 2800 "5" "5" "edge2"] + Pin[50000 0 6000 3000 6600 2800 "6" "6" "edge2"] + Pin[60000 0 6000 3000 6600 2800 "7" "7" "edge2"] + Pin[70000 0 6000 3000 6600 2800 "8" "8" "edge2"] + Pin[70000 -30000 6000 3000 6600 2800 "9" "9" "edge2"] + Pin[60000 -30000 6000 3000 6600 2800 "10" "10" "edge2"] + Pin[50000 -30000 6000 3000 6600 2800 "11" "11" "edge2"] + Pin[40000 -30000 6000 3000 6600 2800 "12" "12" "edge2"] + Pin[30000 -30000 6000 3000 6600 2800 "13" "13" "edge2"] + Pin[20000 -30000 6000 3000 6600 2800 "14" "14" "edge2"] + Pin[10000 -30000 6000 3000 6600 2800 "15" "15" "edge2"] + Pin[0 -30000 6000 3000 6600 2800 "16" "16" "edge2"] + ElementLine [-5000 5000 75000 5000 1000] + ElementLine [75000 -35000 75000 5000 1000] + ElementLine [-5000 -35000 75000 -35000 1000] + ElementLine [-5000 -10000 -5000 5000 1000] + ElementLine [-5000 -35000 -5000 -20000 1000] + ElementArc [-5000 -15000 5000 5000 90 180 1000] + + ) + +Element["" "Radial lead circular non-polar component (typically capacitor)," "C2" "RCI200" 592500 380000 -3591 -32370 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square"] + Pin[0 -20000 6000 3000 6600 2800 "2" "2" ""] + ElementLine [5000 -20000 5000 0 1000] + ElementLine [-5000 -20000 -5000 0 1000] + ElementArc [0 -20000 5000 5000 180 180 1000] + ElementArc [0 0 5000 5000 0 180 1000] + + ) + +Element["" "Radial lead circular non-polar component (typically capacitor)," "C27" "RCI200" 197500 52500 -14094 -11968 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"] + Pin[-20000 0 6000 3000 6600 2800 "2" "2" "edge2"] + ElementLine [-20000 -5000 0 -5000 1000] + ElementLine [-20000 5000 0 5000 1000] + ElementArc [-20000 0 5000 5000 270 180 1000] + ElementArc [0 0 5000 5000 90 180 1000] + + ) + +Element["" "LED5" "D2" "GREEN" 62500 250000 12402 -17173 0 100 ""] +( + Pin[0 5000 6500 3000 7100 4300 "1" "1" "square"] + Pin[0 -5000 6500 3000 7100 4300 "2" "2" ""] + ElementArc [0 0 11800 11800 90 360 1000] + ElementArc [0 0 13800 13800 90 360 1000] + + ) + +Element["" "ACY400" "R4" "2k7" 605000 150000 918 -11236 0 100 ""] +( + Pin[10000 0 6000 3000 6600 3500 "1" "1" "square,edge2"] + Pin[-30000 0 6000 3000 6600 3500 "2" "2" "edge2"] + ElementLine [0 0 10000 0 1000] + ElementLine [-30000 0 -20000 0 1000] + ElementLine [-20000 3300 0 3300 1000] + ElementLine [-20000 -3300 -20000 3300 1000] + ElementLine [-20000 -3300 0 -3300 1000] + ElementLine [0 -3300 0 3300 1000] + + ) + +Element["" "ACY400" "R5" "2k7" 547500 150000 -756 -11236 0 100 ""] +( + Pin[10000 0 6000 3000 6600 3500 "1" "1" "square,edge2"] + Pin[-30000 0 6000 3000 6600 3500 "2" "2" "edge2"] + ElementLine [0 0 10000 0 1000] + ElementLine [-30000 0 -20000 0 1000] + ElementLine [-20000 3300 0 3300 1000] + ElementLine [-20000 -3300 -20000 3300 1000] + ElementLine [-20000 -3300 0 -3300 1000] + ElementLine [0 -3300 0 3300 1000] + + ) + +Element["" "Axial diode (pin 1 is cathode)" "D4" "ALF400" 342500 150000 28700 -6600 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "2" "2" "square,edge2"] + Pin[40000 0 6000 3000 6600 3500 "1" "1" "edge2"] + ElementLine [13300 -6600 13300 6600 1000] + ElementLine [26700 6600 13300 0 1000] + ElementLine [26700 -6600 26700 6600 1000] + ElementLine [13300 0 26700 -6600 1000] + ElementLine [26700 0 40000 0 1000] + ElementLine [0 0 13300 0 1000] + + ) + +Element["" "Radial lead circular non-polar component (typically capacitor)," "C4" "RCI200" 552500 360000 -3287 -11555 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square"] + Pin[0 20000 6000 3000 6600 2800 "2" "2" ""] + ElementLine [-5000 0 -5000 20000 1000] + ElementLine [5000 0 5000 20000 1000] + ElementArc [0 20000 5000 5000 0 180 1000] + ElementArc [0 0 5000 5000 180 180 1000] + + ) + +Element["" "Bottom lead polar circular component (typically capacitor)" "C3" "RCY100P" 615000 350000 8663 -19804 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "1" "1" "square"] + Pin[0 -10000 6000 3000 6600 3500 "2" "2" ""] + ElementLine [-2500 6500 2500 6500 1000] + ElementLine [0 4000 0 9000 1000] + ElementArc [0 -5000 10000 10000 90 360 1000] + + ) + +Element["lock" "eurocard_3U" "" "EUROCARD_3U" 45000 5000 636000 0 3 100 "selected"] +( + Pin[12500 22500 12000 3000 12600 8000 "M1" "1" "lock,edge2"] + Pin[12500 371200 12000 3000 12600 8000 "M2" "2" "lock,edge2"] + Pin[617500 22500 12000 3000 12600 8000 "M3" "3" "lock,edge2"] + Pin[617500 371200 12000 3000 12600 8000 "M4" "4" "lock,edge2"] + ElementLine [630000 0 0 0 2000] + ElementLine [630000 393700 630000 0 2000] + ElementLine [0 393700 630000 393700 2000] + ElementLine [0 0 0 393700 2000] + + ) + +Element["" "Radial lead circular non-polar component (typically capacitor)," "C6" "RCI200" 575000 380000 -2744 -31248 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square"] + Pin[0 -20000 6000 3000 6600 2800 "2" "2" ""] + ElementLine [5000 -20000 5000 0 1000] + ElementLine [-5000 -20000 -5000 0 1000] + ElementArc [0 -20000 5000 5000 180 180 1000] + ElementArc [0 0 5000 5000 0 180 1000] + + ) + +Element["" "Push-button, tactile, right angle, 466mils actuator" "S1" "MJTP1236_D" 55000 320000 9800 8900 0 100 ""] +( + Pin[0 0 6000 3000 6600 4200 "1" "1" "square,edge2"] + Pin[0 17700 6000 3000 6600 4200 "2" "2" "edge2"] + Pin[9800 -4900 7000 3000 7600 5200 "C1" "C1" "edge2"] + Pin[9800 22700 7000 3000 7600 5200 "C2" "C2" "edge2"] + ElementLine [-46600 14800 -10000 15800 2000] + ElementLine [-46600 3000 -46600 14800 2000] + ElementLine [-10000 2000 -46600 3000 2000] + ElementLine [3800 -4900 3800 22700 2000] + ElementLine [-10000 22700 15800 22700 2000] + ElementLine [-10000 -4900 -10000 22700 2000] + ElementLine [-10000 -4900 15800 -4900 2000] + + ) + +Element["" "Bottom lead polar circular component (typically capacitor)" "C22" "RCY400P" 552500 300000 15000 -2500 0 100 ""] +( + Pin[0 0 10000 3000 10600 6000 "1" "1" "square,edge2"] + Pin[40000 0 10000 3000 10600 6000 "2" "2" "edge2"] + ElementLine [62000 0 66000 0 1000] + ElementLine [-24000 -2000 -24000 2000 1000] + ElementLine [-26000 0 -22000 0 1000] + ElementArc [20000 0 40000 40000 0 360 1000] + + ) + +Element["" "ACY400" "R11" "2k2" 425000 70000 -4732 -38992 0 100 ""] +( + Pin[0 10000 6000 3000 6600 3500 "1" "1" "square"] + Pin[0 -30000 6000 3000 6600 3500 "2" "2" ""] + ElementLine [0 0 0 10000 1000] + ElementLine [0 -30000 0 -20000 1000] + ElementLine [-3300 -20000 -3300 0 1000] + ElementLine [-3300 -20000 3300 -20000 1000] + ElementLine [3300 -20000 3300 0 1000] + ElementLine [-3300 0 3300 0 1000] + + ) + +Element["" "ACY400" "R3" "10k" 430000 150000 524 -11766 0 100 ""] +( + Pin[10000 0 6000 3000 6600 3500 "1" "1" "square,edge2"] + Pin[-30000 0 6000 3000 6600 3500 "2" "2" "edge2"] + ElementLine [0 0 10000 0 1000] + ElementLine [-30000 0 -20000 0 1000] + ElementLine [-20000 3300 0 3300 1000] + ElementLine [-20000 -3300 -20000 3300 1000] + ElementLine [-20000 -3300 0 -3300 1000] + ElementLine [0 -3300 0 3300 1000] + + ) + +Element["" "E22 standing" "" "E22" 520000 235000 -52500 -32500 2 100 ""] +( + ElementLine [-75000 -65000 -75000 -10000 2000] + ElementLine [-80000 -65000 -75000 -65000 2000] + ElementLine [-80000 -65000 -80000 -10000 2000] + ElementLine [-100000 -10000 -80000 -10000 2000] + ElementLine [-100000 -65000 -100000 -10000 2000] + ElementLine [-105000 -65000 -100000 -65000 2000] + ElementLine [-105000 -65000 -105000 0 2000] + ElementLine [-75000 -10000 -30000 -10000 2000] + ElementLine [-30000 -65000 -30000 -10000 2000] + ElementLine [-30000 -65000 -25000 -65000 2000] + ElementLine [-25000 -65000 -25000 -10000 2000] + ElementLine [-25000 -10000 -5000 -10000 2000] + ElementLine [-5000 -65000 -5000 -10000 2000] + ElementLine [-5000 -65000 0 -65000 2000] + ElementLine [0 -65000 0 0 2000] + ElementLine [-105000 0 0 0 2000] + + ) + +Element["" "ACY400" "R2" "2k2" 470000 150000 19973 -10448 0 100 ""] +( + Pin[-10000 0 6000 3000 6600 3500 "1" "1" "square,edge2"] + Pin[30000 0 6000 3000 6600 3500 "2" "2" "edge2"] + ElementLine [-10000 0 0 0 1000] + ElementLine [20000 0 30000 0 1000] + ElementLine [0 -3300 20000 -3300 1000] + ElementLine [20000 -3300 20000 3300 1000] + ElementLine [0 3300 20000 3300 1000] + ElementLine [0 -3300 0 3300 1000] + + ) + +Element["" "ACY400" "R8" "2k2" 547500 70000 -2980 -40823 0 100 ""] +( + Pin[0 10000 6000 3000 6600 3500 "1" "1" "square"] + Pin[0 -30000 6000 3000 6600 3500 "2" "2" ""] + ElementLine [0 0 0 10000 1000] + ElementLine [0 -30000 0 -20000 1000] + ElementLine [-3300 -20000 -3300 0 1000] + ElementLine [-3300 -20000 3300 -20000 1000] + ElementLine [3300 -20000 3300 0 1000] + ElementLine [-3300 0 3300 0 1000] + + ) + +Element["" "Radial lead circular non-polar component (typically capacitor)," "C20" "RCI200" 177500 105000 -3189 -12500 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square"] + Pin[0 20000 6000 3000 6600 2800 "2" "2" ""] + ElementLine [-5000 0 -5000 20000 1000] + ElementLine [5000 0 5000 20000 1000] + ElementArc [0 20000 5000 5000 0 180 1000] + ElementArc [0 0 5000 5000 180 180 1000] + + ) + +Element["" "TO220W" "Q3" "unknown" 477500 210000 -11024 17598 0 100 ""] +( + Pin[0 0 8000 3000 8600 4200 "1" "1" "square,edge2"] + Pin[-10000 0 8000 3000 8600 4200 "2" "2" "edge2"] + Pin[-20000 0 8000 3000 8600 4200 "3" "3" "edge2"] + ElementLine [-30000 12000 10000 12000 2000] + ElementLine [-30000 -6000 -30000 12000 2000] + ElementLine [-30000 -6000 10000 -6000 2000] + ElementLine [10000 -6000 10000 12000 2000] + ElementLine [-30000 12000 10000 12000 2000] + ElementLine [-30000 6000 -30000 12000 2000] + ElementLine [-30000 6000 10000 6000 2000] + ElementLine [10000 6000 10000 12000 2000] + ElementLine [-3000 6000 -3000 12000 1000] + ElementLine [-17000 6000 -17000 12000 1000] + + ) + +Element["" "Radial lead circular non-polar component (typically capacitor)," "C14" "RCI200" 507500 30000 -15433 -11319 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"] + Pin[-20000 0 6000 3000 6600 2800 "2" "2" "edge2"] + ElementLine [-20000 -5000 0 -5000 1000] + ElementLine [-20000 5000 0 5000 1000] + ElementArc [-20000 0 5000 5000 270 180 1000] + ElementArc [0 0 5000 5000 90 180 1000] + + ) + +Element["" "RCY100P" "C21" "4.7uFx16V" 242500 175000 12834 -12756 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"] + Pin[10000 0 6000 3000 6600 3500 "2" "2" "edge2"] + ElementLine [-9000 0 -4000 0 1000] + ElementLine [-6500 -2500 -6500 2500 1000] + ElementArc [5000 0 10000 10000 0 360 1000] + + ) + +Element["" "ACY400" "R12" "10k" 442500 70000 -4280 -39522 0 100 ""] +( + Pin[0 10000 6000 3000 6600 3500 "1" "1" "square"] + Pin[0 -30000 6000 3000 6600 3500 "2" "2" ""] + ElementLine [0 0 0 10000 1000] + ElementLine [0 -30000 0 -20000 1000] + ElementLine [-3300 -20000 -3300 0 1000] + ElementLine [-3300 -20000 3300 -20000 1000] + ElementLine [3300 -20000 3300 0 1000] + ElementLine [-3300 0 3300 0 1000] + + ) + +Element["" "E22 standing" "" "E22" 392500 235000 -52500 -32500 2 100 ""] +( + ElementLine [-75000 -65000 -75000 -10000 2000] + ElementLine [-80000 -65000 -75000 -65000 2000] + ElementLine [-80000 -65000 -80000 -10000 2000] + ElementLine [-100000 -10000 -80000 -10000 2000] + ElementLine [-100000 -65000 -100000 -10000 2000] + ElementLine [-105000 -65000 -100000 -65000 2000] + ElementLine [-105000 -65000 -105000 0 2000] + ElementLine [-75000 -10000 -30000 -10000 2000] + ElementLine [-30000 -65000 -30000 -10000 2000] + ElementLine [-30000 -65000 -25000 -65000 2000] + ElementLine [-25000 -65000 -25000 -10000 2000] + ElementLine [-25000 -10000 -5000 -10000 2000] + ElementLine [-5000 -65000 -5000 -10000 2000] + ElementLine [-5000 -65000 0 -65000 2000] + ElementLine [0 -65000 0 0 2000] + ElementLine [-105000 0 0 0 2000] + + ) + +Element["" "Radial lead circular non-polar component (typically capacitor)," "C8" "RCI200" 460000 125000 -4349 -30610 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square"] + Pin[0 -20000 6000 3000 6600 2800 "2" "2" ""] + ElementLine [5000 -20000 5000 0 1000] + ElementLine [-5000 -20000 -5000 0 1000] + ElementArc [0 -20000 5000 5000 180 180 1000] + ElementArc [0 0 5000 5000 0 180 1000] + + ) + +Element["" "Bottom lead polar circular component (typically capacitor)" "C12" "RCY100P" 320000 150000 4332 -10788 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"] + Pin[-10000 0 6000 3000 6600 3500 "2" "2" "edge2"] + ElementLine [6500 -2500 6500 2500 1000] + ElementLine [4000 0 9000 0 1000] + ElementArc [-5000 0 10000 10000 180 360 1000] + + ) + +Element["" "Bottom lead polar circular component (typically capacitor)" "C18" "RCY400P" 552500 202500 17500 -2500 0 100 ""] +( + Pin[0 0 10000 3000 10600 6000 "1" "1" "square,edge2"] + Pin[40000 0 10000 3000 10600 6000 "2" "2" "edge2"] + ElementLine [62000 0 66000 0 1000] + ElementLine [-24000 -2000 -24000 2000 1000] + ElementLine [-26000 0 -22000 0 1000] + ElementArc [20000 0 40000 40000 0 360 1000] + + ) + +Element["" "RCY100P" "C16" "4.7uFx16V" 192500 75000 12441 -14153 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"] + Pin[10000 0 6000 3000 6600 3500 "2" "2" "edge2"] + ElementLine [-9000 0 -4000 0 1000] + ElementLine [-6500 -2500 -6500 2500 1000] + ElementArc [5000 0 10000 10000 0 360 1000] + + ) + +Element["" "Radial lead circular non-polar component (typically capacitor)," "C15" "RCI200" 607500 30000 -15178 -11319 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"] + Pin[-20000 0 6000 3000 6600 2800 "2" "2" "edge2"] + ElementLine [-20000 -5000 0 -5000 1000] + ElementLine [-20000 5000 0 5000 1000] + ElementArc [-20000 0 5000 5000 270 180 1000] + ElementArc [0 0 5000 5000 90 180 1000] + + ) + +Element["" "TO220W" "Q5" "unknown" 477500 285000 -11555 17736 0 100 ""] +( + Pin[0 0 8000 3000 8600 4200 "1" "1" "square,edge2"] + Pin[-10000 0 8000 3000 8600 4200 "2" "2" "edge2"] + Pin[-20000 0 8000 3000 8600 4200 "3" "3" "edge2"] + ElementLine [-30000 12000 10000 12000 2000] + ElementLine [-30000 -6000 -30000 12000 2000] + ElementLine [-30000 -6000 10000 -6000 2000] + ElementLine [10000 -6000 10000 12000 2000] + ElementLine [-30000 12000 10000 12000 2000] + ElementLine [-30000 6000 -30000 12000 2000] + ElementLine [-30000 6000 10000 6000 2000] + ElementLine [10000 6000 10000 12000 2000] + ElementLine [-3000 6000 -3000 12000 1000] + ElementLine [-17000 6000 -17000 12000 1000] + + ) + +Element["" "DIP28N" "U7" "unknown" 482500 130000 5000 -17000 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"] + Pin[10000 0 6000 3000 6600 2800 "2" "2" "edge2"] + Pin[20000 0 6000 3000 6600 2800 "3" "3" "edge2"] + Pin[30000 0 6000 3000 6600 2800 "4" "4" "edge2"] + Pin[40000 0 6000 3000 6600 2800 "5" "5" "edge2"] + Pin[50000 0 6000 3000 6600 2800 "6" "6" "edge2"] + Pin[60000 0 6000 3000 6600 2800 "7" "7" "edge2"] + Pin[70000 0 6000 3000 6600 2800 "8" "8" "edge2"] + Pin[80000 0 6000 3000 6600 2800 "9" "9" "edge2"] + Pin[90000 0 6000 3000 6600 2800 "10" "10" "edge2"] + Pin[100000 0 6000 3000 6600 2800 "11" "11" "edge2"] + Pin[110000 0 6000 3000 6600 2800 "12" "12" "edge2"] + Pin[120000 0 6000 3000 6600 2800 "13" "13" "edge2"] + Pin[130000 0 6000 3000 6600 2800 "14" "14" "edge2"] + Pin[130000 -30000 6000 3000 6600 2800 "15" "15" "edge2"] + Pin[120000 -30000 6000 3000 6600 2800 "16" "16" "edge2"] + Pin[110000 -30000 6000 3000 6600 2800 "17" "17" "edge2"] + Pin[100000 -30000 6000 3000 6600 2800 "18" "18" "edge2"] + Pin[90000 -30000 6000 3000 6600 2800 "19" "19" "edge2"] + Pin[80000 -30000 6000 3000 6600 2800 "20" "20" "edge2"] + Pin[70000 -30000 6000 3000 6600 2800 "21" "21" "edge2"] + Pin[60000 -30000 6000 3000 6600 2800 "22" "22" "edge2"] + Pin[50000 -30000 6000 3000 6600 2800 "23" "23" "edge2"] + Pin[40000 -30000 6000 3000 6600 2800 "24" "24" "edge2"] + Pin[30000 -30000 6000 3000 6600 2800 "25" "25" "edge2"] + Pin[20000 -30000 6000 3000 6600 2800 "26" "26" "edge2"] + Pin[10000 -30000 6000 3000 6600 2800 "27" "27" "edge2"] + Pin[0 -30000 6000 3000 6600 2800 "28" "28" "edge2"] + ElementLine [-5000 5000 135000 5000 1000] + ElementLine [135000 -35000 135000 5000 1000] + ElementLine [-5000 -35000 135000 -35000 1000] + ElementLine [-5000 -10000 -5000 5000 1000] + ElementLine [-5000 -35000 -5000 -20000 1000] + ElementArc [-5000 -15000 5000 5000 90 180 1000] + + ) + +Element["" "TO220W" "Q2" "unknown" 350000 210000 -11929 18130 0 100 ""] +( + Pin[0 0 8000 3000 8600 4200 "1" "1" "square,edge2"] + Pin[-10000 0 8000 3000 8600 4200 "2" "2" "edge2"] + Pin[-20000 0 8000 3000 8600 4200 "3" "3" "edge2"] + ElementLine [-30000 12000 10000 12000 2000] + ElementLine [-30000 -6000 -30000 12000 2000] + ElementLine [-30000 -6000 10000 -6000 2000] + ElementLine [10000 -6000 10000 12000 2000] + ElementLine [-30000 12000 10000 12000 2000] + ElementLine [-30000 6000 -30000 12000 2000] + ElementLine [-30000 6000 10000 6000 2000] + ElementLine [10000 6000 10000 12000 2000] + ElementLine [-3000 6000 -3000 12000 1000] + ElementLine [-17000 6000 -17000 12000 1000] + + ) + +Element["" "ACY400" "R7" "470" 442500 105000 -2508 -18579 0 100 ""] +( + Pin[0 -10000 6000 3000 6600 3500 "1" "1" "square"] + Pin[0 30000 6000 3000 6600 3500 "2" "2" ""] + ElementLine [0 -10000 0 0 1000] + ElementLine [0 20000 0 30000 1000] + ElementLine [3300 0 3300 20000 1000] + ElementLine [-3300 20000 3300 20000 1000] + ElementLine [-3300 0 -3300 20000 1000] + ElementLine [-3300 0 3300 0 1000] + + ) + +Element["" "DIP8" "U4" "unknown" 482500 75000 5000 -17500 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square"] + Pin[10000 0 6000 3000 6600 2800 "2" "2" ""] + Pin[20000 0 6000 3000 6600 2800 "3" "3" ""] + Pin[30000 0 6000 3000 6600 2800 "4" "4" ""] + Pin[30000 -30000 6000 3000 6600 2800 "5" "5" ""] + Pin[20000 -30000 6000 3000 6600 2800 "6" "6" ""] + Pin[10000 -30000 6000 3000 6600 2800 "7" "7" ""] + Pin[0 -30000 6000 3000 6600 2800 "8" "8" ""] + ElementLine [-5000 5000 35000 5000 1000] + ElementLine [35000 -35000 35000 5000 1000] + ElementLine [-5000 -35000 35000 -35000 1000] + ElementLine [-5000 -10000 -5000 5000 1000] + ElementLine [-5000 -35000 -5000 -20000 1000] + ElementArc [-5000 -15000 5000 5000 90 180 1000] + + ) + +Element["" "ACY400" "R10" "390" 532500 50000 -3807 -20113 0 100 ""] +( + Pin[0 -10000 6000 3000 6600 3500 "1" "1" "square"] + Pin[0 30000 6000 3000 6600 3500 "2" "2" ""] + ElementLine [0 -10000 0 0 1000] + ElementLine [0 20000 0 30000 1000] + ElementLine [3300 0 3300 20000 1000] + ElementLine [-3300 20000 3300 20000 1000] + ElementLine [-3300 0 -3300 20000 1000] + ElementLine [-3300 0 3300 0 1000] + + ) + +Element["" "Axial diode (pin 1 is cathode)" "D8" "ALF400" 232500 215000 29056 -9395 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "2" "2" "square,edge2"] + Pin[40000 0 6000 3000 6600 3500 "1" "1" "edge2"] + ElementLine [13300 -6600 13300 6600 1000] + ElementLine [26700 6600 13300 0 1000] + ElementLine [26700 -6600 26700 6600 1000] + ElementLine [13300 0 26700 -6600 1000] + ElementLine [26700 0 40000 0 1000] + ElementLine [0 0 13300 0 1000] + + ) + +Element["" "ACY400" "R9" "390" 562500 70000 -4201 -39600 0 100 ""] +( + Pin[0 10000 6000 3000 6600 3500 "1" "1" "square"] + Pin[0 -30000 6000 3000 6600 3500 "2" "2" ""] + ElementLine [0 0 0 10000 1000] + ElementLine [0 -30000 0 -20000 1000] + ElementLine [-3300 -20000 -3300 0 1000] + ElementLine [-3300 -20000 3300 -20000 1000] + ElementLine [3300 -20000 3300 0 1000] + ElementLine [-3300 0 3300 0 1000] + + ) + +Element["" "DIP8" "U3" "unknown" 582500 75000 5000 -17000 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square"] + Pin[10000 0 6000 3000 6600 2800 "2" "2" ""] + Pin[20000 0 6000 3000 6600 2800 "3" "3" ""] + Pin[30000 0 6000 3000 6600 2800 "4" "4" ""] + Pin[30000 -30000 6000 3000 6600 2800 "5" "5" ""] + Pin[20000 -30000 6000 3000 6600 2800 "6" "6" ""] + Pin[10000 -30000 6000 3000 6600 2800 "7" "7" ""] + Pin[0 -30000 6000 3000 6600 2800 "8" "8" ""] + ElementLine [-5000 5000 35000 5000 1000] + ElementLine [35000 -35000 35000 5000 1000] + ElementLine [-5000 -35000 35000 -35000 1000] + ElementLine [-5000 -10000 -5000 5000 1000] + ElementLine [-5000 -35000 -5000 -20000 1000] + ElementArc [-5000 -15000 5000 5000 90 180 1000] + + ) + +Element["" "DIP8" "U2" "unknown" 372500 130000 7500 -17500 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square"] + Pin[10000 0 6000 3000 6600 2800 "2" "2" ""] + Pin[20000 0 6000 3000 6600 2800 "3" "3" ""] + Pin[30000 0 6000 3000 6600 2800 "4" "4" ""] + Pin[30000 -30000 6000 3000 6600 2800 "5" "5" ""] + Pin[20000 -30000 6000 3000 6600 2800 "6" "6" ""] + Pin[10000 -30000 6000 3000 6600 2800 "7" "7" ""] + Pin[0 -30000 6000 3000 6600 2800 "8" "8" ""] + ElementLine [-5000 5000 35000 5000 1000] + ElementLine [35000 -35000 35000 5000 1000] + ElementLine [-5000 -35000 35000 -35000 1000] + ElementLine [-5000 -10000 -5000 5000 1000] + ElementLine [-5000 -35000 -5000 -20000 1000] + ElementArc [-5000 -15000 5000 5000 90 180 1000] + + ) + +Element["" "Radial lead circular non-polar component (typically capacitor)," "C9" "RCI200" 397500 30000 -13937 -11318 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"] + Pin[-20000 0 6000 3000 6600 2800 "2" "2" "edge2"] + ElementLine [-20000 -5000 0 -5000 1000] + ElementLine [-20000 5000 0 5000 1000] + ElementArc [-20000 0 5000 5000 270 180 1000] + ElementArc [0 0 5000 5000 90 180 1000] + + ) + +Element["" "DIP8" "U5" "unknown" 372500 75000 5000 -17000 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square"] + Pin[10000 0 6000 3000 6600 2800 "2" "2" ""] + Pin[20000 0 6000 3000 6600 2800 "3" "3" ""] + Pin[30000 0 6000 3000 6600 2800 "4" "4" ""] + Pin[30000 -30000 6000 3000 6600 2800 "5" "5" ""] + Pin[20000 -30000 6000 3000 6600 2800 "6" "6" ""] + Pin[10000 -30000 6000 3000 6600 2800 "7" "7" ""] + Pin[0 -30000 6000 3000 6600 2800 "8" "8" ""] + ElementLine [-5000 5000 35000 5000 1000] + ElementLine [35000 -35000 35000 5000 1000] + ElementLine [-5000 -35000 35000 -35000 1000] + ElementLine [-5000 -10000 -5000 5000 1000] + ElementLine [-5000 -35000 -5000 -20000 1000] + ElementArc [-5000 -15000 5000 5000 90 180 1000] + + ) + +Element["" "Dual in-line package, narrow (300 mil)" "U9" "DIP14" 195000 130000 5000 -17000 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"] + Pin[10000 0 6000 3000 6600 2800 "2" "2" "edge2"] + Pin[20000 0 6000 3000 6600 2800 "3" "3" "edge2"] + Pin[30000 0 6000 3000 6600 2800 "4" "4" "edge2"] + Pin[40000 0 6000 3000 6600 2800 "5" "5" "edge2"] + Pin[50000 0 6000 3000 6600 2800 "6" "6" "edge2"] + Pin[60000 0 6000 3000 6600 2800 "7" "7" "edge2"] + Pin[60000 -30000 6000 3000 6600 2800 "8" "8" "edge2"] + Pin[50000 -30000 6000 3000 6600 2800 "9" "9" "edge2"] + Pin[40000 -30000 6000 3000 6600 2800 "10" "10" "edge2"] + Pin[30000 -30000 6000 3000 6600 2800 "11" "11" "edge2"] + Pin[20000 -30000 6000 3000 6600 2800 "12" "12" "edge2"] + Pin[10000 -30000 6000 3000 6600 2800 "13" "13" "edge2"] + Pin[0 -30000 6000 3000 6600 2800 "14" "14" "edge2"] + ElementLine [-5000 -35000 -5000 -20000 1000] + ElementLine [-5000 -10000 -5000 5000 1000] + ElementLine [-5000 -35000 65000 -35000 1000] + ElementLine [65000 -35000 65000 5000 1000] + ElementLine [-5000 5000 65000 5000 1000] + ElementArc [-5000 -15000 5000 5000 90 180 1000] + + ) + +Element["" "Radial lead circular non-polar component (typically capacitor)," "C17" "RCI200" 250000 30000 -14094 -11968 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"] + Pin[-20000 0 6000 3000 6600 2800 "2" "2" "edge2"] + ElementLine [-20000 -5000 0 -5000 1000] + ElementLine [-20000 5000 0 5000 1000] + ElementArc [-20000 0 5000 5000 270 180 1000] + ElementArc [0 0 5000 5000 90 180 1000] + + ) + +Element["" "RCY100P" "C5" "1uFx16V" 310000 75000 15000 -10000 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"] + Pin[10000 0 6000 3000 6600 3500 "2" "2" "edge2"] + ElementLine [-4000 0 -9000 0 1000] + ElementLine [-6500 -2500 -6500 2500 1000] + ElementArc [5000 0 10000 10000 0 360 1000] + + ) + +Element["" "DSUB connector, female/male" "J1" "DB9M" 80000 102500 -21527 -8169 0 100 ""] +( + Pin[-5000 -27000 14000 3000 14600 12000 "C1" "C1" ""] + Pin[-5000 70600 14000 3000 14600 12000 "C1" "C1" ""] + Pin[0 0 6000 3000 6600 3500 "1" "1" "square"] + Pin[0 10900 6000 3000 6600 3500 "2" "2" ""] + Pin[0 21800 6000 3000 6600 3500 "3" "3" ""] + Pin[0 32700 6000 3000 6600 3500 "4" "4" ""] + Pin[0 43600 6000 3000 6600 3500 "5" "5" ""] + Pin[-10000 5400 6000 3000 6600 3500 "6" "6" ""] + Pin[-10000 16300 6000 3000 6600 3500 "7" "7" ""] + Pin[-10000 27200 6000 3000 6600 3500 "8" "8" ""] + Pin[-10000 38100 6000 3000 6600 3500 "9" "9" ""] + ElementLine [-10000 38100 -28000 38100 2000] + ElementLine [-10000 27200 -28000 27200 2000] + ElementLine [-10000 16300 -28000 16300 2000] + ElementLine [-10000 5400 -28000 5400 2000] + ElementLine [0 43600 -28000 43600 2000] + ElementLine [0 32700 -28000 32700 2000] + ElementLine [0 21800 -28000 21800 2000] + ElementLine [0 10900 -28000 10900 2000] + ElementLine [0 0 -28000 0 2000] + ElementLine [-48000 59600 -48000 -16000 1000] + ElementLine [-28000 59600 -48000 59600 2000] + ElementLine [-28000 -16000 -28000 59600 2000] + ElementLine [-48000 -16000 -28000 -16000 2000] + ElementLine [-78000 53600 -78000 -10000 2000] + ElementLine [-51000 53600 -78000 53600 2000] + ElementLine [-51000 -10000 -51000 53600 1000] + ElementLine [-78000 -10000 -51000 -10000 2000] + ElementLine [-51000 64600 -48000 64600 1000] + ElementLine [-51000 76600 -48000 76600 1000] + ElementLine [-51000 -21000 -48000 -21000 1000] + ElementLine [-51000 -33000 -48000 -33000 1000] + ElementLine [-51000 82600 -51000 -39000 1000] + ElementLine [-48000 82600 -51000 82600 1000] + ElementLine [-48000 -39000 -48000 82600 1000] + ElementLine [-51000 -39000 -48000 -39000 1000] + + ) + +Element["" "ACY400" "R1" "470" 345000 50000 -3689 -20783 0 100 ""] +( + Pin[0 -10000 6000 3000 6600 3500 "1" "1" "square"] + Pin[0 30000 6000 3000 6600 3500 "2" "2" ""] + ElementLine [0 -10000 0 0 1000] + ElementLine [0 20000 0 30000 1000] + ElementLine [3300 0 3300 20000 1000] + ElementLine [-3300 20000 3300 20000 1000] + ElementLine [-3300 0 -3300 20000 1000] + ElementLine [-3300 0 3300 0 1000] + + ) + +Element["" "E22 standing" "" "E22" 520000 310000 -52500 -32500 2 100 ""] +( + ElementLine [-75000 -65000 -75000 -10000 2000] + ElementLine [-80000 -65000 -75000 -65000 2000] + ElementLine [-80000 -65000 -80000 -10000 2000] + ElementLine [-100000 -10000 -80000 -10000 2000] + ElementLine [-100000 -65000 -100000 -10000 2000] + ElementLine [-105000 -65000 -100000 -65000 2000] + ElementLine [-105000 -65000 -105000 0 2000] + ElementLine [-75000 -10000 -30000 -10000 2000] + ElementLine [-30000 -65000 -30000 -10000 2000] + ElementLine [-30000 -65000 -25000 -65000 2000] + ElementLine [-25000 -65000 -25000 -10000 2000] + ElementLine [-25000 -10000 -5000 -10000 2000] + ElementLine [-5000 -65000 -5000 -10000 2000] + ElementLine [-5000 -65000 0 -65000 2000] + ElementLine [0 -65000 0 0 2000] + ElementLine [-105000 0 0 0 2000] + + ) + +Element["" "Axial non-polar component (typically resistor or capacitor)," "R18" "ACY400" 207500 235000 -737 -10644 0 100 ""] +( + Pin[10000 0 5500 3000 6100 3000 "1" "1" "square,edge2"] + Pin[-30000 0 5500 3000 6100 3000 "2" "2" "edge2"] + ElementLine [0 -3300 0 3300 1000] + ElementLine [-20000 -3300 0 -3300 1000] + ElementLine [-20000 -3300 -20000 3300 1000] + ElementLine [-20000 3300 0 3300 1000] + ElementLine [-30000 0 -20000 0 1000] + ElementLine [0 0 10000 0 1000] + + ) + +Element["" "Axial non-polar component (typically resistor or capacitor)," "R19" "ACY400" 262500 235000 -147 -11452 0 100 ""] +( + Pin[10000 0 5500 3000 6100 3000 "1" "1" "square,edge2"] + Pin[-30000 0 5500 3000 6100 3000 "2" "2" "edge2"] + ElementLine [0 -3300 0 3300 1000] + ElementLine [-20000 -3300 0 -3300 1000] + ElementLine [-20000 -3300 -20000 3300 1000] + ElementLine [-20000 3300 0 3300 1000] + ElementLine [-30000 0 -20000 0 1000] + ElementLine [0 0 10000 0 1000] + + ) + +Element["" "Axial diode (pin 1 is cathode)" "D10" "ALF400" 232500 255000 29586 -9314 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "2" "2" "square,edge2"] + Pin[40000 0 6000 3000 6600 3500 "1" "1" "edge2"] + ElementLine [13300 -6600 13300 6600 1000] + ElementLine [26700 6600 13300 0 1000] + ElementLine [26700 -6600 26700 6600 1000] + ElementLine [13300 0 26700 -6600 1000] + ElementLine [26700 0 40000 0 1000] + ElementLine [0 0 13300 0 1000] + + ) + +Element["" "Axial diode (pin 1 is cathode)" "D9" "ALF400" 177500 255000 28522 -9081 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "2" "2" "square,edge2"] + Pin[40000 0 6000 3000 6600 3500 "1" "1" "edge2"] + ElementLine [13300 -6600 13300 6600 1000] + ElementLine [26700 6600 13300 0 1000] + ElementLine [26700 -6600 26700 6600 1000] + ElementLine [13300 0 26700 -6600 1000] + ElementLine [26700 0 40000 0 1000] + ElementLine [0 0 13300 0 1000] + + ) + +Element["" "Dual in-line package, narrow (300 mil)" "U10" "DIP14" 195000 350000 5000 -17000 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square,edge2"] + Pin[10000 0 6000 3000 6600 2800 "2" "2" "edge2"] + Pin[20000 0 6000 3000 6600 2800 "3" "3" "edge2"] + Pin[30000 0 6000 3000 6600 2800 "4" "4" "edge2"] + Pin[40000 0 6000 3000 6600 2800 "5" "5" "edge2"] + Pin[50000 0 6000 3000 6600 2800 "6" "6" "edge2"] + Pin[60000 0 6000 3000 6600 2800 "7" "7" "edge2"] + Pin[60000 -30000 6000 3000 6600 2800 "8" "8" "edge2"] + Pin[50000 -30000 6000 3000 6600 2800 "9" "9" "edge2"] + Pin[40000 -30000 6000 3000 6600 2800 "10" "10" "edge2"] + Pin[30000 -30000 6000 3000 6600 2800 "11" "11" "edge2"] + Pin[20000 -30000 6000 3000 6600 2800 "12" "12" "edge2"] + Pin[10000 -30000 6000 3000 6600 2800 "13" "13" "edge2"] + Pin[0 -30000 6000 3000 6600 2800 "14" "14" "edge2"] + ElementLine [-5000 -35000 -5000 -20000 1000] + ElementLine [-5000 -10000 -5000 5000 1000] + ElementLine [-5000 -35000 65000 -35000 1000] + ElementLine [65000 -35000 65000 5000 1000] + ElementLine [-5000 5000 65000 5000 1000] + ElementArc [-5000 -15000 5000 5000 90 180 1000] + + ) + +Element["" "Radial lead circular non-polar component (typically capacitor)," "C24" "RCI200" 177500 325000 -5690 -12500 0 100 ""] +( + Pin[0 0 6000 3000 6600 2800 "1" "1" "square"] + Pin[0 20000 6000 3000 6600 2800 "2" "2" ""] + ElementLine [-5000 0 -5000 20000 1000] + ElementLine [5000 0 5000 20000 1000] + ElementArc [0 20000 5000 5000 0 180 1000] + ElementArc [0 0 5000 5000 180 180 1000] + + ) + +Element["" "Axial non-polar component (typically resistor or capacitor)," "R16" "ACY400" 187500 195000 19264 -11000 0 100 ""] +( + Pin[-10000 0 5500 3000 6100 3000 "1" "1" "square,edge2"] + Pin[30000 0 5500 3000 6100 3000 "2" "2" "edge2"] + ElementLine [0 -3300 0 3300 1000] + ElementLine [0 3300 20000 3300 1000] + ElementLine [20000 -3300 20000 3300 1000] + ElementLine [0 -3300 20000 -3300 1000] + ElementLine [20000 0 30000 0 1000] + ElementLine [-10000 0 0 0 1000] + + ) + +Element["" "Axial diode (pin 1 is cathode)" "D7" "ALF400" 177500 215000 29054 -9436 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "2" "2" "square,edge2"] + Pin[40000 0 6000 3000 6600 3500 "1" "1" "edge2"] + ElementLine [13300 -6600 13300 6600 1000] + ElementLine [26700 6600 13300 0 1000] + ElementLine [26700 -6600 26700 6600 1000] + ElementLine [13300 0 26700 -6600 1000] + ElementLine [26700 0 40000 0 1000] + ElementLine [0 0 13300 0 1000] + + ) + +Element["" "Axial diode (pin 1 is cathode)" "D6" "ALF400" 217500 300000 -12423 -10537 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "2" "2" "square,edge2"] + Pin[-40000 0 6000 3000 6600 3500 "1" "1" "edge2"] + ElementLine [-13300 -6600 -13300 6600 1000] + ElementLine [-26700 -6600 -13300 0 1000] + ElementLine [-26700 -6600 -26700 6600 1000] + ElementLine [-13300 0 -26700 6600 1000] + ElementLine [-40000 0 -26700 0 1000] + ElementLine [-13300 0 0 0 1000] + + ) + +Element["" "RCY100P" "C25" "4.7uFx16V" 242500 300000 12500 -12500 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"] + Pin[10000 0 6000 3000 6600 3500 "2" "2" "edge2"] + ElementLine [-9000 0 -4000 0 1000] + ElementLine [-6500 -2500 -6500 2500 1000] + ElementArc [5000 0 10000 10000 0 360 1000] + + ) + +Element["" "RCY100P" "C23" "4.7uFx16V" 242500 275000 13090 -11654 0 100 ""] +( + Pin[0 0 6000 3000 6600 3500 "1" "1" "square,edge2"] + Pin[10000 0 6000 3000 6600 3500 "2" "2" "edge2"] + ElementLine [-9000 0 -4000 0 1000] + ElementLine [-6500 -2500 -6500 2500 1000] + ElementArc [5000 0 10000 10000 0 360 1000] + + ) + +Element["" "Axial non-polar component (typically resistor or capacitor)," "R15" "ACY400" 207500 275000 -126 -9345 0 100 ""] +( + Pin[10000 0 5500 3000 6100 3000 "1" "1" "square,edge2"] + Pin[-30000 0 5500 3000 6100 3000 "2" "2" "edge2"] + ElementLine [0 -3300 0 3300 1000] + ElementLine [-20000 -3300 0 -3300 1000] + ElementLine [-20000 -3300 -20000 3300 1000] + ElementLine [-20000 3300 0 3300 1000] + ElementLine [-30000 0 -20000 0 1000] + ElementLine [0 0 10000 0 1000] + + ) + +Element["" "Axial non-polar component (typically resistor or capacitor)," "R17" "ACY400" 242500 195000 20169 -10960 0 100 ""] +( + Pin[-10000 0 5500 3000 6100 3000 "1" "1" "square,edge2"] + Pin[30000 0 5500 3000 6100 3000 "2" "2" "edge2"] + ElementLine [0 -3300 0 3300 1000] + ElementLine [0 3300 20000 3300 1000] + ElementLine [20000 -3300 20000 3300 1000] + ElementLine [0 -3300 20000 -3300 1000] + ElementLine [20000 0 30000 0 1000] + ElementLine [-10000 0 0 0 1000] + + ) + +Element["" "DIN41.612 row a+b+c male" "J2" "abc96m" 652500 47500 -13000 -17500 0 200 ""] +( + Pin[0 0 6000 3000 6600 3000 "a1" "A1" "square"] + Pin[0 10000 6000 3000 6600 3000 "a2" "A2" ""] + Pin[0 20000 6000 3000 6600 3000 "a3" "A3" ""] + Pin[0 30000 6000 3000 6600 3000 "a4" "A4" ""] + Pin[0 40000 6000 3000 6600 3000 "a5" "A5" ""] + Pin[0 50000 6000 3000 6600 3000 "a6" "A6" ""] + Pin[0 60000 6000 3000 6600 3000 "a7" "A7" ""] + Pin[0 70000 6000 3000 6600 3000 "a8" "A8" ""] + Pin[0 80000 6000 3000 6600 3000 "a9" 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Connect("U7-13") + Connect("U7-20") + Connect("U7-28") + ) + Net("+12V" "(unknown)") + ( + Connect("C1-1") + Connect("C2-2") + Connect("C16-1") + Connect("C17-2") + Connect("C19-1") + Connect("C20-2") + Connect("C23-1") + Connect("C24-2") + Connect("D5-1") + Connect("D6-1") + Connect("J2-A29") + Connect("J2-B29") + Connect("J2-C29") + Connect("U1-1") + Connect("U8-1") + Connect("U8-8") + Connect("U9-1") + Connect("U10-1") + ) + Net("/RELEASE" "(unknown)") + ( + Connect("D4-1") + Connect("J2-A23") + Connect("J2-B23") + Connect("J2-C23") + Connect("Q1-2") + ) + Net("/SD" "(unknown)") + ( + Connect("U7-22") + Connect("U9-3") + Connect("U10-3") + ) + Net("BRAKE" "(unknown)") + ( + Connect("U7-4") + Connect("U8-2") + ) + Net("CANH" "(unknown)") + ( + Connect("J2-C2") + Connect("U3-7") + ) + Net("CANL" "(unknown)") + ( + Connect("J2-A1") + Connect("U3-6") + ) + Net("CHA" "(unknown)") + ( + Connect("J2-A5") + Connect("R5-1") + Connect("U7-6") + ) + Net("CHB" "(unknown)") + ( + Connect("J2-C6") + Connect("R4-1") + Connect("U7-7") + ) + Net("CLOCK" "(unknown)") + ( + Connect("U2-5") + Connect("U7-9") + ) + Net("CTS" "(unknown)") + ( + Connect("J1-8") + Connect("U6-8") + ) + Net("DRVA" "(unknown)") + ( + Connect("C26-2") + Connect("R6-2") + Connect("U7-26") + Connect("U9-2") + ) + Net("DRVB" "(unknown)") + ( + Connect("C27-2") + Connect("R7-2") + Connect("U7-25") + Connect("U10-2") + ) + Net("GNDCAN" "(unknown)") + ( + Connect("C14-1") + Connect("C15-1") + Connect("J2-B1") + Connect("J2-B2") + Connect("U3-2") + Connect("U3-8") + Connect("U4-5") + ) + Net("INDEX" "(unknown)") + ( + Connect("J2-B7") + Connect("R12-2") + ) + Net("MOTOR+" "(unknown)") + ( + Connect("C21-2") + Connect("J2-A25") + Connect("J2-B25") + Connect("J2-C25") + Connect("Q2-3") + Connect("Q3-2") + Connect("U9-11") + ) + Net("MOTOR-" "(unknown)") + ( + Connect("C25-2") + Connect("J2-A26") + Connect("J2-B26") + Connect("J2-C26") + Connect("Q4-3") + Connect("Q5-2") + Connect("U10-11") + ) + Net("PGND" "(unknown)") + ( + Connect("C1-2") + Connect("C2-1") + Connect("C3-2") + Connect("C4-1") + Connect("C5-2") + Connect("C6-1") + Connect("C6-2") + Connect("C7-2") + Connect("C8-1") + Connect("C9-1") + Connect("C13-2") + Connect("C16-2") + Connect("C17-1") + Connect("C18-2") + Connect("C19-2") + Connect("C20-1") + Connect("C22-2") + Connect("C23-2") + Connect("C24-1") + Connect("C26-1") + Connect("C27-1") + Connect("D1-1") + Connect("D2-1") + Connect("D3-1") + Connect("J1-5") + Connect("J2-A7") + Connect("J2-A22") + Connect("J2-A27") + Connect("J2-A30") + Connect("J2-A31") + Connect("J2-B5") + Connect("J2-B6") + Connect("J2-B22") + Connect("J2-B27") + Connect("J2-B30") + Connect("J2-B31") + Connect("J2-C22") + Connect("J2-C27") + Connect("J2-C30") + Connect("J2-C31") + Connect("Q1-3") + Connect("Q3-3") + Connect("Q5-3") + Connect("R13-1") + Connect("R14-1") + Connect("R15-1") + Connect("S1-1") + Connect("U1-2") + Connect("U2-4") + Connect("U5-5") + Connect("U6-15") + Connect("U7-8") + Connect("U7-19") + Connect("U7-27") + Connect("U8-4") + Connect("U8-5") + Connect("U9-5") + Connect("U9-6") + Connect("U10-5") + Connect("U10-6") + ) + Net("REFPOS" "(unknown)") + ( + Connect("R12-1") + Connect("R13-2") + Connect("U7-5") + ) + Net("RTS" "(unknown)") + ( + Connect("J1-7") + Connect("U6-7") + ) + Net("RX" "(unknown)") + ( + Connect("J1-2") + Connect("U6-13") + ) + Net("TX" "(unknown)") + ( + Connect("J1-3") + Connect("U6-14") + ) + Net("unnamed_net1" "(unknown)") + ( + Connect("D1-2") + Connect("R1-1") + ) + Net("unnamed_net2" "(unknown)") + ( + Connect("R2-2") + Connect("U7-1") + ) + Net("unnamed_net3" "(unknown)") + ( + Connect("C5-1") + Connect("R2-1") + Connect("R3-1") + Connect("S1-2") + ) + Net("unnamed_net4" "(unknown)") + ( + Connect("D2-2") + Connect("R6-1") + ) + Net("unnamed_net5" "(unknown)") + ( + Connect("D3-2") + Connect("R7-1") + ) + Net("unnamed_net6" "(unknown)") + ( + Connect("R8-1") + Connect("U3-1") + Connect("U4-6") + ) + Net("unnamed_net7" "(unknown)") + ( + Connect("R10-2") + Connect("U3-4") + ) + Net("unnamed_net8" "(unknown)") + ( + Connect("R9-2") + Connect("U4-3") + ) + Net("unnamed_net9" "(unknown)") + ( + Connect("R9-1") + Connect("U7-17") + ) + Net("unnamed_net10" "(unknown)") + ( + Connect("R10-1") + Connect("U5-3") + ) + Net("unnamed_net11" "(unknown)") + ( + Connect("R11-1") + Connect("U5-6") + Connect("U7-18") + ) + Net("unnamed_net12" "(unknown)") + ( + Connect("C10-2") + Connect("U6-2") + ) + Net("unnamed_net13" "(unknown)") + ( + Connect("C11-1") + Connect("U6-3") + ) + Net("unnamed_net14" "(unknown)") + ( + Connect("C12-2") + Connect("U6-4") + ) + Net("unnamed_net15" "(unknown)") + ( + Connect("C12-1") + Connect("U6-5") + ) + Net("unnamed_net16" "(unknown)") + ( + Connect("C13-1") + Connect("U6-6") + ) + Net("unnamed_net17" "(unknown)") + ( + Connect("U6-9") + Connect("U7-3") + ) + Net("unnamed_net18" "(unknown)") + ( + Connect("U6-10") + Connect("U7-2") + ) + Net("unnamed_net19" "(unknown)") + ( + Connect("U6-11") + Connect("U7-11") + ) + Net("unnamed_net20" "(unknown)") + ( + Connect("U6-12") + Connect("U7-12") + ) + Net("unnamed_net21" "(unknown)") + ( + Connect("C11-2") + Connect("U6-1") + ) + Net("unnamed_net22" "(unknown)") + ( + Connect("Q1-1") + Connect("U8-6") + Connect("U8-7") + ) + Net("unnamed_net23" "(unknown)") + ( + Connect("D7-1") + Connect("Q2-1") + Connect("R16-2") + ) + Net("unnamed_net24" "(unknown)") + ( + Connect("D8-1") + Connect("Q3-1") + Connect("R17-2") + ) + Net("unnamed_net25" "(unknown)") + ( + Connect("D9-1") + Connect("Q4-1") + Connect("R18-1") + ) + Net("unnamed_net26" "(unknown)") + ( + Connect("D10-1") + Connect("Q5-1") + Connect("R19-1") + ) + Net("unnamed_net27" "(unknown)") + ( + Connect("C21-1") + Connect("D5-2") + Connect("U9-13") + ) + Net("unnamed_net28" "(unknown)") + ( + Connect("C25-1") + Connect("D6-2") + Connect("U10-13") + ) + Net("unnamed_net29" "(unknown)") + ( + Connect("R15-2") + Connect("U10-4") + ) + Net("unnamed_net30" "(unknown)") + ( + Connect("R14-2") + Connect("U9-4") + ) + Net("unnamed_net31" "(unknown)") + ( + Connect("D8-2") + Connect("R17-1") + Connect("U9-7") + ) + Net("unnamed_net32" "(unknown)") + ( + Connect("D7-2") + Connect("R16-1") + Connect("U9-12") + ) + Net("unnamed_net33" "(unknown)") + ( + Connect("D10-2") + Connect("R19-2") + Connect("U10-7") + ) + Net("unnamed_net34" "(unknown)") + ( + Connect("D9-2") + Connect("R18-2") + Connect("U10-12") + ) + Net("VCAN" "(unknown)") + ( + Connect("C14-2") + Connect("C15-2") + Connect("J2-A2") + Connect("J2-C1") + Connect("R8-2") + Connect("U3-3") + Connect("U4-7") + Connect("U4-8") + Connect("U5-2") + ) + Net("Vpp" "(unknown)") + ( + Connect("C18-1") + Connect("C22-1") + Connect("D4-2") + Connect("J2-A24") + Connect("J2-A32") + Connect("J2-B24") + Connect("J2-B32") + Connect("J2-C7") + Connect("J2-C24") + Connect("J2-C32") + Connect("Q2-2") + Connect("Q4-2") + ) +) diff --git a/doc/aic.plated-drill.cnc 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-\bibliographystyle{abbrv} - -\section{Mapa de Endereços} - -O espaço de endereçamento da AIC é ocupado por dois conjuntos de -dispositivos: os dispositivos existentes na própria TINI e os dispositivos -externos. - -\subsection{Dispositivos da TINI} - -O mapa de endereços da TINI é mostrado na tabela \ref{tab:addmap}. Note-se -que o software da TINI apresenta para o usuário uma memória -linear\cite{tinispec}. Os endereços habilitados através de -$\overline{\mbox{PCE0}}$, $\overline{\mbox{PCE1}}$, $\overline{\mbox{PCE2}}$ -e $\overline{\mbox{PCE3}}$, são acessados no firmware da TINI através das -faixas 800000H-8FFFFFH, 900000H-9FFFFFH, A00000H-AFFFFFH e B00000H-BFFFFFH, -respectivamente. - -Para acesso em Assembly é conveniente lembrar que a TINI utiliza por default -os bits $\overline{\mbox{PDCE0}}$, $\overline{\mbox{PDCE1}}$, -$\overline{\mbox{PDCE2}}$, $\overline{\mbox{PDCE3}}$ setados, o que combina -os espaços de endereçamento de dados e de programa. Neste modo, são -utilizados apenas os sinais $\overline{\mbox{CE0}}$, -$\overline{\mbox{CE1}}$, $\overline{\mbox{CE2}}$ e $\overline{\mbox{CE3}}$. -Assim, para acesso aos dispositivos habilitados por -$\overline{\mbox{PCE0}}$, $\overline{\mbox{PCE1}}$, $\overline{\mbox{PCE2}}$ -ou $\overline{\mbox{PCE3}}$ é necessário primeiro desabilitar o espaço de -endereçamento combinado. - -\begin{table}[htbp] -\small -\caption{Mapa de Endereços da TINI RevD} -\label{tab:addmap} -\begin{center} -\begin{tabular}{ccccc} -\hline \hline -Endereço & STROBE & Nome & Dispositivo & Referência\\ -\hline -000000H-0FFFFFH & $\overline{\mbox{RCE0}}$ & 512Kx8 FLASH & Flash Memory & U2\\ -100000H-1FFFFFH & $\overline{\mbox{CE1}}$ & 512Kx8 SRAM & SRAM & U4\\ -200000H-2FFFFFH & $\overline{\mbox{CE2}}$ & 512Kx8 SRAM & SRAM & U5\\ -300000H-307FFFH & $\overline{\mbox{CE3}}$ & Ethernet Interface & SMC91C94/96 & U3\\ -308000H-309FFFH & $\overline{\mbox{CE3}}$ \\ -310000H & $\overline{\mbox{CE3}}$ & Real Time Clock & DS1315 & U7\\ -310001H-3FFFFFH & $\overline{\mbox{CE3}}$ \\ -000000H-0FFFFFH & $\overline{\mbox{PCE0}}$\\ -100000H-1FFFFFH & $\overline{\mbox{PCE1}}$ \\ -200000H-2FFFFFH & $\overline{\mbox{PCE2}}$ \\ -300000H-3FFFFFH & $\overline{\mbox{PCE3}}$ \\ -\hline -\end{tabular} -\end{center} -\end{table} - -\subsection{Dispositivos Externos} - -Os dispositivos externos podem ser mapeados, através de jumper, em -qualquer dos espaços de endereçamento selecionados por -$\overline{\mbox{PCE0}}$-$\overline{\mbox{PCE3}}$. A tabela \ref{tab:extmap} -mostra o mapeamento de endereços dentro da faixa selecionada pelo -jumper. - -\begin{table}[htbp] -\caption{Mapa de Endereços de Dispositivos Externos} -\label{tab:extmap} -\begin{center} -\begin{tabular}{cccc} -\hline \hline -Endereço & Nome & Dispositivo & Referência\\ -\hline -X80000H - X80003H & PWM & 8254 & U6\\ -X80004H - X8FFFFH & Alias PWM & 8254 & U6\\ -X90000H & Encoder & HCTL-2016 & U7\\ -X90001H - X9FFFFH & Alias Encoder & HCTL-2016 & U7\\ -XA0000H & Controle & 22V10 & U8\\ -XA0001H - XAFFFFH & Alias Controller & 22V10 & U8\\ -\hline -\end{tabular} -\end{center} -\end{table} - -\subsection{Registrador de Controle} - -Este registrador (endereço XA0000H) é implementado em um 22V10 e os -seus bits estão descritos na tabela \ref{tab:ctrlreg}. - -\begin{table}[htbp] -\caption{Registrador de Controle} -\label{tab:ctrlreg} -\begin{center} -\begin{tabular}{ccl} -\hline \hline -Bit & Operação & Descrição\\ -\hline -D0 & R & índice\\ -\hline -D1D0 & W\\ -00 & & Desabilita PWM\\ -01 & & Habilita PWM\\ -10 & & Ativa freio\\ -11 & & Libera freio\\ -\hline -\end{tabular} -\end{center} -\end{table} - -\section{Conector Traseiro} - -Os sinais de interface da AIC com os atuadores, sensores e barramento CAN -estão disponíveis no conector traseiro. A pinagem deste conector é detalhada -na tabela \ref{tab:backpinout}. - -%\begin{table}[htbp] -%\caption{Pinagem do Conector Traseiro} -%\label{tab:backpinout} -%\begin{center} -%\begin{tabular}{ccp{7.5cm}} - -\begin{center} -\begin{longtable}{ccp{7.5cm}} -\caption{Pinagem do Conector Traseiro} -\label{tab:backpinout} -\endfirsthead -\caption{Pinagem do Conector Traseiro} -(Continuação) -\endhead -(Continua) -\endfoot -\endlastfoot -\hline \hline -Pino & Sinal & Descrição\\ -\hline -A1 & CANL0 & Sinal de nível baixo do CAN 0\\ -B1, B2 & GNDCAN0 & Terra da alimentação do CAN 0\\ -C2 & CANH0 & Sinal de nível alto do CAN 0\\ -C1, A2 & VCAN0 & Entrada de alimentação do CAN 0\\ -A3 & CANL1 & Sinal de nível baixo do CAN 1 \\ -B3, B4 & GNDCAN1 & Terra da alimentação do CAN 1\\ -C4 & CANH1 & Sinal de nível alto do CAN 1\\ -C3, A4 & VCAN1 & Entrada de alimentação do CAN 1\\ -\hline -B5, B6 & GND & Terra do encoder\\ -A5 & CHA & Canal A do encoder\\ -C5, A6 & Vcc & Saída de alimentação do encoder\\ -C6 & CHB & Canal B do encoder\\ -\hline -A7 & GND & Terra do índice\\ -B7 & INDEX & Sinal de índice\\ -C7 & +24V & Saída de alimentação do sensor de índice\\ -\hline -A22, B22, C22 & GND & Terra do freio\\ -A23, B23, C23 & /RELEASE & Sinal de liberação do freio\\ -A24, B24, C24 & +24V & Saída de alimentação do freio\\ -\hline -A25, B25, C25 & MOTOR+ & Alimentação do motor\\ -A26, B26, C26 & MOTOR- & Alimentação do motor\\ -\hline -A27, B27, C27 & GND & Terra da Alimentação de +5V\\ -A28, B28, C28 & Vcc & Saída de Alimentação +5V -(opcionalmente entrada, se o regulador não for instalado na placa) \\ -A29, B29, C29 & +12V & Saída de Alimentação +12V -(opcionalmente entrada, se o regulador não for instalado na placa) \\ -A30, B30, C30 & GND & Terra da Alimentação de +12V\\ -A31, B31, C31 & GND & Terra da Alimentação de +24V\\ -A32, B32, C32 & +24V & Entrada de Alimentação +24V\\ -\hline -\end{longtable} -\end{center} - -%\end{tabular} -%\end{center} -%\end{table} - -\section{Organização do Software} - -No diretório \verb$aic$ existem diversos arquivos e diretórios. Alguns -diretórios começam com letra maiúscula. Estes diretórios contém -programas em Java e que devem rodar na AIC. Os diretórios que começam -com letras minúsculas contém programas que devem rodar no \foreign{host}. Note-se que a -maioria deles tem duas versões: Uma que roda na AIC e outra que roda no \foreign{host}. -A idéia é que estes programas testam a mesma coisa, mas um testa rodando -diretamente na AIC e o outro testa rodando no \foreign{host} e enviando comandos que são -interpretados e executados na AIC. São os seguintes os arquivos e -diretórios existentes: - -\begin{description} - -\item[{\tt AICOff}] Desliga todos os dispositivos, para ser executado na -AIC. - -\item[{\tt CANTest}] Teste da comunicação através do barramento CAN. - -\item[{\tt Changes}] Histórico de alterações. - -\item[{\tt COPYING}] GNU General Public License. - -\item[{\tt BrakeTest/}] Teste do freio, para ser executado na AIC. - -\item[{\tt EncoderTest/}] Teste do encoder, para ser executado na AIC. - -\item[{\tt IndexTest/}] Teste do fim de curso, para ser executado na AIC. - -\item[{\tt IODaemon/}] \foreign{Daemon} de I/O para ser executado na AIC. -Interpreta os comandos enviados pelo \foreign{host} e executa-os. - -\item[{\tt JointTest/}] Teste da junta, para ser executado na AIC. - -\item[{\tt Makefile}] Arquivo de Make para compilar todo o software da AIC, -inclusive documentação. Adicionalmente, cada diretório tem o seu -próprio {\tt Makefile}, que compila os programas que estão lá. - -\item[{\tt MotorReset/}] Reseta o atuador, move o motor até acionar o fim -de curso , para ser executado na AIC. - -\item[{\tt MotorTest/}] Teste do motor, para ser executado na AIC. - -\item[{\tt StrobeTest/}] Teste do PLD, para ser executado na AIC. - -\item[{\tt TODO}] Arquivo com a descrição das tarefas a realizar. - -\item[{\tt aicd/}] Emulador da AIC para rodar em outro computador, ou seja pode-se -utilizar outro computador para emular a AIC. Isto é utilizado, basicamente, para -teste dos protocolos de comunicação. Por default o emulador é um -programa de tempo real utilizando o RTAI. Assim, para executa-lo é -necessário que os módulos do RTAI estejam carregados. - -\item[{\tt braketst/}] Teste do freio, para ser executado no \foreign{host}. - -\item[{\tt doc/}] Documentação. - -\item[{\tt doc/html}] Documentação das bibliotecas, produzida -pelo programa {\tt doxygen}. - -\item[{\tt encodertst/}] Teste do encoder, para ser executado no \foreign{host}. - -\item[{\tt include/}] Arquivos \foreign{header} utilizados pelos programas -em C++. - -\item[{\tt indextst/}] Teste do sensor de fim de curso, para ser executado no \foreign{host}. - -\item[{\tt jointtst/}] Teste da junta, para ser executado no \foreign{host}. - -\item[{\tt lib/}] Bibliotecas usadas pelos demais programas. - -\item[{\tt motortst/}] Teste do motor, para ser executado no \foreign{host}. - -\item[{\tt pid/}] Controlador PID, para ser executado no \foreign{host}. - -\item[{\tt pld/}] \foreign{Firmware} do PLD da AIC. - -\end{description} - - -\section{Protocolo de Aplicação Utilizado para Comunicação via -UDP} -\label{sec:UDP} - -A figura~\ref{fig:genpacket} mostra o formato genérico dos datagramas que -são transmitidos entre a AIC e o \foreign{host} através do protocolo -UDP. Desde a versão 1.2.0 os diversos campos do pacote são codificados -em binário, com os campos delimitados pelo seu tamanho. (até a versão -1.1.0 os campos eram codificados em ASCII e separados pelo caractere de -espaço). A tabela~\ref{tab:genpacket} detalha os campos do datagrama. - -\begin{figure}[H] -\begin{center} -\begin{tabular}{|c|c|} -\hline -identificação & argumentos \\ -\hline -\end{tabular} -\end{center} -\caption{Formato genérico do datagrama de aplicação.} -\label{fig:genpacket} -\end{figure} - -\begin{table}[H] -\begin{center} -\caption{Descrição do datagrama de aplicação.} -\label{tab:genpacket} -\begin{tabular}{lcp{8.5cm}} -\hline -Campo & tamanho & Descrição\\ -\hline \hline -identificação & byte & Identificação do comando enviado para a AIC - ou do \foreign{status} enviado para o - \foreign{host}. Para manter compatibilidade - com o protocolo utilizado para transmissão - por CAN apenas os 6 bits menos - significativos são utilizados como - identificação.\\ - & & 0x00 = inválido\\ - & & 0x01 = \foreign{reset}\\ - & & 0x02 = desliga motor \\ - & & 0x03 = aplica freio\\ - & & 0x10 = aplica tensão no motor\\ - & & 0x20 = \foreign{status}\\ - & & 0x30 = libera freio\\ - & & 0x31 = liga motor \\ - -argumentos & & parâmetros para o comando, ou dados de \foreign{status}, - se forem necessários.\\ -\hline -\end{tabular} -\end{center} -\end{table} - -O campo destinado aos argumentos é de tamanho variável. Também é -importante ressaltar este campo pode não ser utilizado em -função do tipo de datagrama. Para os códigos utilizados no campo de -identificação existem constantes definidas no arquivo {\tt aicnet.h} -(para ser utilizado em programas em C ou C++) e na classe {\tt Host.class} -(para ser utilizado em programas em Java). Os datagramas trocados entre a -AIC e o \foreign{host} podem ser classificados em datagramas enviados do \foreign{host} para a -AIC e datagramas enviados da AIC para o \foreign{host}. - -\subsection{Datagramas Enviados pelo \foreign{host} para a AIC} - -Os datagramas enviados pelo \foreign{host} para a AIC são utilizados para comandar -os diversos dispositivos. - -\subsubsection{\foreign{Reset}} - -O datagrama transmitido pelo \foreign{host} para resetar a AIC é detalhado -na tabela~\ref{tab:reset}. Não é utilizado o campo de argumentos. - -\begin{table}[H] -\begin{center} -\caption{Descrição do datagrama \foreign{reset}.} -\label{tab:reset} -\begin{tabular}{lcl} -\hline -Campo & Tamanho & Valor\\ -\hline \hline -Identificador & 8 bits & 0x01\\ -Argumentos & & Não utilizado\\ -\hline -\end{tabular} -\end{center} -\end{table} - -\subsubsection{Desliga Motor} - -O datagrama transmitido pelo \foreign{host} para desligar o motor é -detalhado na tabela~\ref{tab:turnoff}. Não é utilizado o campo de -argumentos. - -\begin{table}[H] -\begin{center} -\caption{Descrição do datagrama desliga motor.} -\label{tab:turnoff} -\begin{tabular}{lcl} -\hline -Campo & Tamanho & Valor\\ -\hline \hline -Identificador & 8 bits & 0x02\\ -Argumentos & & Não utilizado\\ -\hline -\end{tabular} -\end{center} -\end{table} - -\subsubsection{Aplica Freio} - -O datagrama transmitido pelo \foreign{host}, para aplicar o freio -eletromagnético (colocando a saída correspondente no estado inativo) -é detalhado na tabela~\ref{tab:brakeon}. Não é utilizado o campo de -argumentos. - -\begin{table}[H] -\begin{center} -\caption{Descrição do datagrama aplica freio.} -\label{tab:brakeon} -\begin{tabular}{lcl} -\hline -Campo & Tamanho & Valor\\ -\hline \hline -Identificador & 8 bits & 0x03\\ -Argumentos & & Não utilizado\\ -\hline -\end{tabular} -\end{center} -\end{table} - -\subsubsection{Aplica Tensão no Motor} - -O datagrama transmitido do \foreign{host} para aplicar uma tensão no motor -é descrito na tabela~\ref{tab:voltage}. - -\begin{table}[H] -\begin{center} -\caption{Descrição do datagrama aplica tens~ao no motor.} -\label{tab:voltage} -\begin{tabular}{lcp{8.5cm}} -\hline -Campo & Tamanho & Valor\\ -\hline \hline -Identificador & 8 bits & 0x10\\ -tensão & 64 bits & Tensão a ser aplicada no motor em IEEE-754 precisão - dupla. Os bits mais significativos são transmitidos primeiro.\\ -\hline -\end{tabular} -\end{center} -\end{table} - - -\subsubsection{Libera Freio} - -O datagrama transmitido pelo \foreign{host} para liberar o freio -eletromagnético (ativando a saída correspondente) é detalhado na -tabela~\ref{tab:brakeoff}. Não é utilizado o campo de argumentos. - -\begin{table}[H] -\begin{center} -\caption{Descrição do datagrama libera freio.} -\label{tab:brakeoff} -\begin{tabular}{lcl} -\hline -Campo & Tamanho & Valor\\ -\hline \hline -Identificador & 8 bits & 0x30\\ -Argumentos & & Não utilizado\\ -\hline -\end{tabular} -\end{center} -\end{table} - -\subsubsection{Liga Motor} - -O datagrama transmitido pelo \foreign{host}, para ligar o motor (com tensão de 0V -aplicada nele) é detalhado na -tabela~\ref{tab:turnon}. Não é utilizado o campo de argumentos. - -\begin{table}[H] -\begin{center} -\caption{Descrição do datagrama liga motor.} -\label{tab:turnon} -\begin{tabular}{lcl} -\hline -Campo & Tamanho & Valor\\ -\hline \hline -Identificador & 8 bits & 0x31\\ -Argumentos & & Não utilizado\\ -\hline -\end{tabular} -\end{center} -\end{table} - -\subsection{Datagramas Enviados pelo AIC para o \foreign{host}} - -Os datagramas enviados pela AIC para o \foreign{host} são utilizados para -reportar o \foreign{status} dos diversos dispositivos. - -\subsubsection{\foreign{Status}} - -O datagrama transmitido pela AIC para o \foreign{host} com a -informação de \foreign{status} dos dispositivos é detalhado na -tabela~\ref{tab:status}. - -\begin{table}[H] -\begin{center} -\caption{Descrição do datagrama \foreign{status}.} -\label{tab:status} -\begin{tabular}{lcp{8.5cm}} -\hline -Campo & Tamanho & Valor\\ -\hline \hline -Identificador & 8 bits & 0x20\\ -Deslocamento & 64 bits & Deslocamento do motor desde o último datagrama de - status, em IEEE-754 precisão dupla. Os bits mais - significativos são transmitidos primeiro.\\ -Índice & 32 bits & Estado da \foreign{sync-switch} (0 ou 1), em - complemento 2. Os bits mais significativos são - transmitidos primeiro.\\ -\hline -\end{tabular} -\end{center} -\end{table} - -\section{Protocolo de Aplicação Utilizado para Comunicação via -CAN} -\label{sec:CAN} - -O protocolo de aplicação para comunicação via CAN utiliza o -campo {\bf identifier} do quadro CAN para identificar a AIC à qual -refere-se a mensagem (AIC de origem ou destino da mensagem) e o código do -comando enviado para a AIC ou do \foreign{status} enviado para o -\foreign{host}. Todas as mensagens são transmitidas através de um quadro -de dados utilizando o identificador padrão de 11 bits. Os dados associados -ao comando ou \foreign{status} são transmitidos em binário. Inteiros -são codificados em complemento 2 com 32 bits. Números em ponto flutuante -são codificados em IEEE-754. Os bits mais significativos são -transmitidos primeiro. A tabela~\ref{tab:canident} detalha o formato do -campo identificador do quadro de dados CAN. Para manter a compatibilidade -com o protocolo utilizado quando a comunicação é via UDP, são -utilizados os mesmos códigos de comando ou \foreign{status}. No entanto, -como são utilizados apenas 6 bits para isto, os dois bits mais -significativos não são transmitidos no quadro CAN. Estes bits são -suprimidos e reinseridos pelas rotinas das bibliotecas (vide -seção~\ref{sec:lib}), de forma a manter uma interface com o usuário -uniforme independente do meio de transmissão. - -\begin{table}[H] -\begin{center} -\caption{Descrição do campo identificador do quadro de dados CAN.} -\label{tab:canident} -\begin{tabular}{lp{12cm}} -\hline -Bits & Descrição\\ -\hline \hline -10-5 & Código do comando enviado para a AIC - ou do \foreign{status} enviado para o \foreign{host}.\\ - & 000000 = inválido\\ - & 000001 = \foreign{reset}\\ - & 000010 = desliga motor \\ - & 000011 = aplica freio\\ - & 010000 = aplica tensão no motor\\ - & 100000 = \foreign{status}\\ - & 110000 = libera freio\\ - & 110001 = liga motor \\ -4-0 & Identificação da AIC à qual refere-se - a mensagem (AIC de origem ou destino da mensagem)\\ - & 00000 mensagem não associada qualquer AIC específica\\ - & 00001 AIC 1\\ - & 00010 AIC 2\\ - & $\vdots$\\ - & 11111 AIC 31\\ -\hline -\end{tabular} -\end{center} -\end{table} - -Os dados associados ao comando ou \foreign{status} são transmitidos em -binário no campo de dados do quadro CAN. Inteiros são codificados em -complemento 2 com 32 bits. Números em ponto flutuante são codificados em -IEEE-754. Os bits mais significativos são transmitidos primeiro. - -Para os códigos de comando ou \foreign{status} utilizados no campo de -identificação existem constantes definidas no arquivo {\tt aicnet.h} -(para ser utilizado em programas em C ou C++) e na classe {\tt Host.class} -(para ser utilizado em programas em Java). As mensagens trocadas entre a AIC -e o \foreign{host} podem ser classificadas em mensagens enviadas do -\foreign{host} para a AIC e mensagens enviadas da AIC para o -\foreign{host}. - -\subsection{Mensagens Enviadas pelo \foreign{host} para a AIC} - -As mensagens enviadas pelo \foreign{host} para a AIC são utilizados para -comandar os diversos dispositivos. - -\subsubsection{\foreign{Reset}} - -A mensagem transmitida pelo \foreign{host} para resetar a AIC é detalhada -na tabela~\ref{tab:resetcan}. Não é utilizado o campo de dados. - -\begin{table}[H] -\begin{center} -\caption{Descrição da mensagem \foreign{reset}.} -\label{tab:resetcan} -\begin{tabular}{cl} -\hline -Campo & Valor\\ -\hline \hline -Identificador & 000001xxxxx\\ -Dados & Não utilizado\\ -\hline -\end{tabular} -\end{center} -\end{table} - -\subsubsection{Desliga Motor} - -A mensagem transmitida pelo \foreign{host} para desligar o motor é -detalhada na tabela~\ref{tab:turnoffcan}. Não é utilizado o campo de dados. - -\begin{table}[H] -\begin{center} -\caption{Descrição da mensagem desliga motor.} -\label{tab:turnoffcan} -\begin{tabular}{cl} -\hline -Campo & Valor\\ -\hline \hline -Identificador &000010xxxxx\\ -Dados & Não utilizado\\ -\hline -\end{tabular} -\end{center} -\end{table} - -\subsubsection{Aplica freio} - -A mensagem transmitida pelo \foreign{host}, para aplicar o freio -eletromagnético (colocando a saída correspondente no estado inativo) -é detalhada na tabela~\ref{tab:brakeoncan}. Não é utilizado o campo de -dados. - -\begin{table}[H] -\begin{center} -\caption{Descrição da mensagem aplica freio.} -\label{tab:brakeoncan} -\begin{tabular}{cl} -\hline -Campo & Valor\\ -\hline \hline -Identificador & 000011xxxxx\\ -Dados & Não utilizado\\ -\hline -\end{tabular} -\end{center} -\end{table} - -\subsubsection{Aplica Tensão no Motor} - -A mensagem transmitida do \foreign{host} para aplicar uma tensão no motor -é descrita na tabela~\ref{tab:voltagecan}. - -\begin{table}[H] -\begin{center} -\caption{Descrição da mensagem aplica tensão no motor.} -\label{tab:voltagecan} -\begin{tabular}{cp{11cm}} -\hline -Campo & Valor\\ -\hline \hline -Identificador & 010000xxxxx\\ -Dados & Tensão a ser aplicada no motor em IEEE-754 - precisão dupla, com o MSB transmitido primeiro.\\ -\hline -\end{tabular} -\end{center} -\end{table} - -\subsubsection{Libera Freio} - -A mensagem transmitida pelo \foreign{host} para liberar o freio -eletromagnético (ativando a saída correspondente) é detalhada na -tabela~\ref{tab:brakeoffcan}. Não é utilizado o campo de dados. - -\begin{table}[H] -\begin{center} -\caption{Descrição da mensagem libera freio.} -\label{tab:brakeoffcan} -\begin{tabular}{cl} -\hline -Campo & Valor\\ -\hline \hline -Identificador & 110000xxxxx\\ -Dados & Não utilizado\\ -\hline -\end{tabular} -\end{center} -\end{table} - - -\subsubsection{Liga Motor} - -A mensagem transmitida pelo \foreign{host}, para ligar o motor (com tensão -de 0V aplicada nele) é detalhada na tabela~\ref{tab:turnoncan}. Não é -utilizado o campo de dados. - -\begin{table}[H] -\begin{center} -\caption{Descrição da mensagem liga motor.} -\label{tab:turnoncan} -\begin{tabular}{cl} -\hline Campo & Valor\\ -\hline \hline -Identificador & 110001xxxxx\\ -Dados & Não utilizado\\ -\hline -\end{tabular} -\end{center} -\end{table} - -\subsection{Mensagens Enviadas pelo AIC para o \foreign{host}} - -As mensagens enviadas pela AIC para o \foreign{host} são utilizadas para -reportar o \foreign{status} dos diversos dispositivos. - -\subsubsection{\foreign{Status}} - -A mensagem transmitida pela AIC para o \foreign{host} com a informação -de \foreign{status} dos dispositivos é detalhada na -tabela~\ref{tab:statuscan}. - -\begin{table}[H] -\begin{center} -\caption{Descrição da mensagem \foreign{status}.} -\label{tab:statuscan} -\begin{tabular}{cp{11cm}} -\hline -Campo & Valor\\ -\hline \hline -Identificador & 100000xxxxx\\ -Dados & Deslocamento do motor desde o último datagrama de - status. O deslocamento é codificado em IEEE-754 e ocupa os - primeiros 4 bytes do campo de dados.\\ - & Estado da \foreign{sync-switch} (0 ou 1). Codificado em - complemento 2, ocupando os últimos 4 bytes do - campo de dados.\\ -\hline -\end{tabular} -\end{center} -\end{table} - -\section{Bibliotecas} -\label{sec:lib} - -A operação da AIC e da comunicação com o \foreign{host} é -suportada pelas bibliotecas de classes {\tt AIC.jar} e {\tt libaic.a}. A -biblioteca {\tt AIC.jar} é utilizada pelos programas em Java que executam -na AIC, enquanto a biblioteca {\tt libaic.a} é utilizada pelos programas em -C++ que executam no \foreign{host}. - -A documentação destas bibliotecas foi gerada automaticamente através do -utilitário {\tt doxygen} e está disponível em {\tt doc/html/index.htm}. - -As classes contidas na biblioteca {\tt libaic.a} podem ser divididas em dois -grupos: classes utilizadas para operação da AIC e classes para -Emulação da AIC em outro computador. Este último conjunto de classes -é utilizado basicamente pelo programa {\tt aicd}. - - -\section{Exemplo Utilizando Comunicação por UDP} - -Neste exemplo serão utilizados os programas \verb$IODaemon$ e -\verb$jointtst$. Para obter o arquivo executável de cada um, basta entrar -nos diretórios correspondentes e digitar \verb$make$. Digitando-se -\verb$make distclean$, apaga-se a versão existente para forçar a -compilação de tudo novamente. A mesma coisa vale para todos os -Makefiles. - -Após compilar o \verb$IODaemon$, necessita-se carregar o executável -produzido, chamado \verb$IODaemon.tini$, na AIC. Isto pode ser feito por FTP. -Para tanto, digita-se - -\begin{verbatim} -ftp aic1 -\end{verbatim} - -\noindent o \foreign{login} é \emph{root} e a senha \emph{tini}. A seguir, -deve-se entrar no modo binário digitando - -\begin{verbatim} -bin -\end{verbatim} - -\noindent e carregar o arquivo para a AIC digitando - -\begin{verbatim} -put IODaemon.tini -\end{verbatim} - -\noindent para sair do FTP digita-se - -\begin{verbatim} -quit -\end{verbatim} - -Para rodar o \verb$IODaemon.tini$, é necessário logar-se em uma das AICs, -por exemplo na \verb$aic1$ por telnet, digitando - -\begin{verbatim} -telnet aic1 -\end{verbatim} - -Já no \foreign{prompt} da \verb$aic1$, o programa pode ser executado -digitando-se - -\begin{verbatim} -java IODaemon.tini -debug -UDP janus 9871 -\end{verbatim} - -\begin{description} - -\item[{\tt -debug}] é opcional e causa o \foreign{log} da tensão -aplicada nos motores, leituras dos encoders e outros detalhes no terminal. -Se não for utilizado não haverá \foreign{log}. - -\item[{\tt -UDP}] é a opção para utilizar comunicação por UDP, -já que o default é utilizar comunicação por CAN. - -\item[{\tt janus}] é o nome do \foreign{host} para onde as leituras dos sensores devem -ser enviadas e de onde serão recebidos os comandos. - -\item[{\tt 9871}] é o número da porta UDP do \foreign{host} para onde devem ser enviadas as -leituras do sensores. - -\end{description} - -Ao executar o \verb$IODaemon$ perde-se o controle do terminal. Para abortar o -programa, pode-se abrir outro terminal no \foreign{host} e dar outro telnet para a -\verb$aic1$. A seguir, pode-se digitar \verb$ps$ para verificar os processos -executando e um \verb$kill n$ para abortar o processo \verb$n$ (onde -\verb$n$ é o número de processo do \verb$IODaemon$.) - -O \emph{software} do \foreign{host} está no diretório \verb$jointtst$. Para -executa-lo basta digitar - -\begin{verbatim} -jointtst -UDP aic1 9871 -\end{verbatim} - -Este programa gera uma rampas de $0$ a $+24V$, de $+24V$ a $-24V$ e de -$-24V$ a $+24V$ repetidamente para o motor. - -Para executar o programa nas outras AICs, o procedimento é semelhante, basta -utilizar um número de porta diferente para cada uma delas (sugere-se 9871, -9872, 9873...) e executar uma cópia do \verb$jointtest$ para cada AIC, -eventualmente cada uma na sua própria janela. - -\bibliography{aic} - -\appendix - - -\section{Schematics} -\includegraphics[height=\textheight]{aictini.eps} -\includegraphics[height=\textheight]{aicpower.eps} -\includegraphics[height=\textheight]{aicconn.eps} - -\section{Printed Circuit Board} - -\includegraphics{aic_assembly.eps} -\includegraphics{aic_frontsilk.eps} -\includegraphics{aic_front.eps} -\includegraphics{aic_frontmask.eps} -\includegraphics{aic_back.eps} -\includegraphics{aic_backmask.eps} -\includegraphics{aic_fab.eps} - -\end{document} 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40 20 "" 0x00000002) -Via(3975 3100 40 20 "" 0x00000002) -Via(5150 2600 40 20 "" 0x00000002) -Via(5150 3375 40 20 "" 0x00000002) -Via(2050 3225 40 20 "" 0x00000002) -Via(5650 3225 40 20 "" 0x00000002) -Via(5650 2450 40 20 "" 0x00000002) -Via(5250 3275 40 20 "" 0x00000002) -Via(2775 3300 40 20 "" 0x00000002) -Via(3225 3050 40 20 "" 0x00000002) -Via(445 3300 40 20 "" 0x00000002) -Via(1250 2550 60 35 "" 0x00000002) -Via(715 2570 40 20 "" 0x00000002) -Via(855 3055 40 20 "" 0x00000002) - -Element(0x00000000 "R 0.25W" "R13" "2k7" 3280 505 1 100 0x00000000) -( - Pin(3300 625 50 20 "1" "1" 0x00000101) - Pin(3300 225 50 20 "2" "2" 0x00000001) - ElementLine (3300 325 3300 225 20) - ElementLine (3300 625 3300 525 20) - ElementLine (3350 525 3250 525 20) - ElementLine (3350 325 3350 525 20) - ElementLine (3250 325 3350 325 20) - ElementLine (3250 525 3250 325 20) - Mark (3300 625) -) - -Element(0x00000000 "diode" "D2" "1N4148" 2975 3645 3 100 0x00000000) -( - Pin(2925 3425 50 20 "1" "1" 0x00000101) - Pin(2925 3725 50 20 "2" "2" 0x00000001) - ElementLine (2925 3425 2925 3525 10) - ElementLine (2925 3625 2925 3725 10) - ElementLine (2925 3525 2975 3625 10) - ElementLine (2975 3625 2875 3625 10) - ElementLine (2875 3625 2925 3525 10) - ElementLine (2975 3525 2875 3525 10) - Mark (2925 3425) -) - -Element(0x00000000 "+5V 1.5A voltage regulator" "U2" "7805" 4200 3790 2 100 0x00000000) -( - Pin(4100 3600 80 20 "In" "1" 0x00000101) - Pin(4000 3600 80 20 "Com" "2" 0x00000001) - Pin(3900 3600 80 20 "Out" "3" 0x00000001) - ElementLine (4200 3720 3800 3720 20) - ElementLine (3800 3720 3800 3540 20) - ElementLine (3800 3540 4200 3540 20) - ElementLine (4200 3540 4200 3720 20) - ElementLine (4200 3720 3800 3720 20) - ElementLine (3800 3720 3800 3660 20) - ElementLine (3800 3660 4200 3660 20) - ElementLine (4200 3660 4200 3720 20) - ElementLine (4070 3720 4070 3660 10) - ElementLine (3930 3720 3930 3660 10) - Mark (4100 3600) -) - -Element(0x00000000 "R 0.25W" "R7" "2k2" 4405 1105 1 100 0x00000000) -( - Pin(4425 1225 50 20 "1" "1" 0x00000101) - Pin(4425 825 50 20 "2" "2" 0x00000001) - ElementLine (4425 925 4425 825 20) - ElementLine (4425 1225 4425 1125 20) - ElementLine (4475 1125 4375 1125 20) - ElementLine (4475 925 4475 1125 20) - ElementLine (4375 925 4475 925 20) - ElementLine (4375 1125 4375 925 20) - Mark (4425 1225) -) - -Element(0x00000000 "optical coupling device" "U15" "6N136" 3975 1005 0 100 0x00000000) -( - Pin(3925 1175 60 28 "NC" "1" 0x00000101) - Pin(4025 1175 60 28 "A+" "2" 0x00000001) - Pin(4125 1175 60 28 "K-" "3" 0x00000001) - Pin(4225 1175 60 28 "NC" "4" 0x00000001) - Pin(4225 875 60 28 "Gnd" "5" 0x00000001) - Pin(4125 875 60 28 "Out" "6" 0x00000001) - Pin(4025 875 60 28 "En" "7" 0x00000001) - Pin(3925 875 60 28 "Vcc" "8" 0x00000001) - ElementLine (3875 1225 4275 1225 10) - ElementLine (4275 1225 4275 825 10) - ElementLine (4275 825 3875 825 10) - ElementLine (3875 1225 3875 1075 10) - ElementLine (3875 975 3875 825 10) - ElementArc (3875 1025 50 50 90 180 10) - Mark (3925 1175) -) - -Element(0x00000000 "R 0.25W" "R8" "390" 5505 1105 1 100 0x00000000) -( - Pin(5525 1225 50 20 "1" "1" 0x00000101) - Pin(5525 825 50 20 "2" "2" 0x00000001) - ElementLine (5525 925 5525 825 20) - ElementLine (5525 1225 5525 1125 20) - ElementLine (5575 1125 5475 1125 20) - ElementLine (5575 925 5575 1125 20) - ElementLine (5475 925 5575 925 20) - ElementLine (5475 1125 5475 925 20) - Mark (5525 1225) -) - -Element(0x00000000 "R 0.25W" "R1" "390" 5305 505 1 100 0x00000000) -( - Pin(5325 625 50 20 "1" "1" 0x00000101) - Pin(5325 225 50 20 "2" "2" 0x00000001) - ElementLine (5325 325 5325 225 20) - ElementLine (5325 625 5325 525 20) - ElementLine (5375 525 5275 525 20) - ElementLine (5375 325 5375 525 20) - ElementLine (5275 325 5375 325 20) - ElementLine (5275 525 5275 325 20) - Mark (5325 625) -) - -Element(0x00000000 "optical coupling device" "U12" "6N136" 4875 405 0 100 0x00000000) -( - Pin(4825 575 60 28 "NC" "1" 0x00000101) - Pin(4925 575 60 28 "A+" "2" 0x00000001) - Pin(5025 575 60 28 "K-" "3" 0x00000001) - Pin(5125 575 60 28 "NC" "4" 0x00000001) - Pin(5125 275 60 28 "Gnd" "5" 0x00000001) - Pin(5025 275 60 28 "Out" "6" 0x00000001) - Pin(4925 275 60 28 "En" "7" 0x00000001) - Pin(4825 275 60 28 "Vcc" "8" 0x00000001) - ElementLine (4775 625 5175 625 10) - ElementLine (5175 625 5175 225 10) - ElementLine (5175 225 4775 225 10) - ElementLine (4775 625 4775 475 10) - ElementLine (4775 375 4775 225 10) - ElementArc (4775 425 50 50 90 180 10) - Mark (4825 575) -) - -Element(0x00000000 "R 0.25W" "R2" "2k2" 4605 505 1 100 0x00000000) -( - Pin(4625 625 50 20 "1" "1" 0x00000101) - Pin(4625 225 50 20 "2" "2" 0x00000001) - ElementLine (4625 325 4625 225 20) - ElementLine (4625 625 4625 525 20) - ElementLine (4675 525 4575 525 20) - ElementLine (4675 325 4675 525 20) - ElementLine (4575 325 4675 325 20) - ElementLine (4575 525 4575 325 20) - Mark (4625 625) -) - -Element(0x00000000 "R 0.25W" "R6" "2k2" 4605 1105 1 100 0x00000000) -( - Pin(4625 1225 50 20 "1" "1" 0x00000101) - Pin(4625 825 50 20 "2" "2" 0x00000001) - ElementLine (4625 925 4625 825 20) - ElementLine (4625 1225 4625 1125 20) - ElementLine (4675 1125 4575 1125 20) - ElementLine (4675 925 4675 1125 20) - ElementLine (4575 925 4675 925 20) - ElementLine (4575 1125 4575 925 20) - Mark (4625 1225) -) - -Element(0x00000000 "R 0.25W" "R5" "390" 5305 1105 1 100 0x00000000) -( - Pin(5325 1225 50 20 "1" "1" 0x00000101) - Pin(5325 825 50 20 "2" "2" 0x00000001) - ElementLine (5325 925 5325 825 20) - ElementLine (5325 1225 5325 1125 20) - ElementLine (5375 1125 5275 1125 20) - ElementLine (5375 925 5375 1125 20) - ElementLine (5275 925 5375 925 20) - ElementLine (5275 1125 5275 925 20) - Mark (5325 1225) -) - -Element(0x00000000 "optical coupling device" "U14" "6N136" 4875 1005 0 100 0x00000000) -( - Pin(4825 1175 60 28 "NC" "1" 0x00000101) - Pin(4925 1175 60 28 "A+" "2" 0x00000001) - Pin(5025 1175 60 28 "K-" "3" 0x00000001) - Pin(5125 1175 60 28 "NC" "4" 0x00000001) - Pin(5125 875 60 28 "Gnd" "5" 0x00000001) - Pin(5025 875 60 28 "Out" "6" 0x00000001) - Pin(4925 875 60 28 "En" "7" 0x00000001) - Pin(4825 875 60 28 "Vcc" "8" 0x00000001) - ElementLine (4775 1225 5175 1225 10) - ElementLine (5175 1225 5175 825 10) - ElementLine (5175 825 4775 825 10) - ElementLine (4775 1225 4775 1075 10) - ElementLine (4775 975 4775 825 10) - ElementArc (4775 1025 50 50 90 180 10) - Mark (4825 1175) -) - -Element(0x00000000 "optical coupling device" "U13" "6N136" 3975 405 0 100 0x00000000) -( - Pin(3925 575 60 28 "NC" "1" 0x00000101) - Pin(4025 575 60 28 "A+" "2" 0x00000001) - Pin(4125 575 60 28 "K-" "3" 0x00000001) - Pin(4225 575 60 28 "NC" "4" 0x00000001) - Pin(4225 275 60 28 "Gnd" "5" 0x00000001) - Pin(4125 275 60 28 "Out" "6" 0x00000001) - Pin(4025 275 60 28 "En" "7" 0x00000001) - Pin(3925 275 60 28 "Vcc" "8" 0x00000001) - ElementLine (3875 625 4275 625 10) - ElementLine (4275 625 4275 225 10) - ElementLine (4275 225 3875 225 10) - ElementLine (3875 625 3875 475 10) - ElementLine (3875 375 3875 225 10) - ElementArc (3875 425 50 50 90 180 10) - Mark (3925 575) -) - -Element(0x00000000 "R 0.25W" "R4" "390" 5505 505 1 100 0x00000000) -( - Pin(5525 625 50 20 "1" "1" 0x00000101) - Pin(5525 225 50 20 "2" "2" 0x00000001) - ElementLine (5525 325 5525 225 20) - ElementLine (5525 625 5525 525 20) - ElementLine (5575 525 5475 525 20) - ElementLine (5575 325 5575 525 20) - ElementLine (5475 325 5575 325 20) - ElementLine (5475 525 5475 325 20) - Mark (5525 625) -) - -Element(0x00000000 "diode" "D1" "1N4148" 1575 3645 3 100 0x00000000) -( - Pin(1525 3425 50 20 "1" "1" 0x00000101) - Pin(1525 3725 50 20 "2" "2" 0x00000001) - ElementLine (1525 3425 1525 3525 10) - ElementLine (1525 3625 1525 3725 10) - ElementLine (1525 3525 1575 3625 10) - ElementLine (1575 3625 1475 3625 10) - ElementLine (1475 3625 1525 3525 10) - ElementLine (1575 3525 1475 3525 10) - Mark (1525 3425) -) - -Element(0x00000000 "LED 5mm" "D10" "Green" 475 2315 0 100 0x00000000) -( - Pin(525 2395 60 20 "-" "1" 0x00000101) - Pin(525 2495 60 20 "+" "2" 0x00000001) - ElementArc (525 2445 70 70 0 360 10) - ElementArc (525 2445 50 50 0 360 15) - Mark (525 2395) -) - -Element(0x00000000 "IRF1010N" "Q2" "IRF1010N" 5150 2260 0 100 0x00000000) -( - Pin(5250 2450 80 20 "G" "1" 0x00000101) - Pin(5350 2450 80 20 "D" "2" 0x00000001) - Pin(5450 2450 80 20 "S" "3" 0x00000001) - ElementLine (5420 2330 5420 2390 10) - ElementLine (5280 2330 5280 2390 10) - ElementLine (5150 2390 5150 2330 20) - ElementLine (5550 2390 5150 2390 20) - ElementLine (5550 2330 5550 2390 20) - ElementLine (5150 2330 5550 2330 20) - ElementLine (5150 2510 5150 2330 20) - ElementLine (5550 2510 5150 2510 20) - ElementLine (5550 2330 5550 2510 20) - ElementLine (5150 2330 5550 2330 20) - Mark (5250 2450) -) - -Element(0x00000000 "generic" "U7" "HCTL-2016" 2450 405 0 100 0x00000000) -( - Pin(2400 575 60 28 "1" "1" 0x00000101) - Pin(2500 575 60 28 "2" "2" 0x00000001) - Pin(2600 575 60 28 "3" "3" 0x00000001) - Pin(2700 575 60 28 "4" "4" 0x00000001) - Pin(2800 575 60 28 "5" "5" 0x00000001) - Pin(2900 575 60 28 "6" "6" 0x00000001) - Pin(3000 575 60 28 "7" "7" 0x00000001) - Pin(3100 575 60 28 "8" "8" 0x00000001) - Pin(3100 275 60 28 "9" "9" 0x00000001) - Pin(3000 275 60 28 "10" "10" 0x00000001) - Pin(2900 275 60 28 "11" "11" 0x00000001) - Pin(2800 275 60 28 "12" "12" 0x00000001) - Pin(2700 275 60 28 "13" "13" 0x00000001) - Pin(2600 275 60 28 "14" "14" 0x00000001) - Pin(2500 275 60 28 "15" "15" 0x00000001) - Pin(2400 275 60 28 "16" "16" 0x00000001) - ElementLine (2350 625 3150 625 10) - ElementLine (3150 625 3150 225 10) - ElementLine (3150 225 2350 225 10) - ElementLine (2350 625 2350 475 10) - ElementLine (2350 375 2350 225 10) - ElementArc (2350 425 50 50 90 180 10) - Mark (2400 575) -) - -Element(0x00000000 "capacitor_radial" "C4" "10uFx25V" 3275 3625 0 100 0x00000000) -( - Pin(3125 3725 60 20 "1" "1" 0x00000101) - Pin(3225 3725 60 20 "2" "2" 0x00000001) - ElementArc (3175 3725 100 100 0 360 10) - Mark (3125 3725) -) - -Element(0x00000000 "connector 2x4 pins" "JP1" "ADDRESS" 4360 2000 3 100 0x00000000) -( - Pin(4150 2050 60 30 "1" "1" 0x00000101) - Pin(4250 2050 60 30 "2" "2" 0x00000001) - Pin(4150 2150 60 30 "3" "3" 0x00000001) - Pin(4250 2150 60 30 "4" "4" 0x00000001) - Pin(4150 2250 60 30 "5" "5" 0x00000001) - Pin(4250 2250 60 30 "6" "6" 0x00000001) - Pin(4150 2350 60 30 "7" "7" 0x00000001) - Pin(4250 2350 60 30 "8" "8" 0x00000001) - ElementLine (4200 2100 4200 2000 10) - ElementLine (4100 2100 4200 2100 10) - ElementLine (4300 2000 4100 2000 20) - ElementLine (4300 2400 4300 2000 20) - ElementLine (4100 2400 4300 2400 20) - ElementLine (4100 2000 4100 2400 20) - Mark (4150 2050) -) - -Element(0x00000000 "generic" "U6" "8254" 1400 2330 0 100 0x00000000) -( - Pin(1350 2650 60 28 "1" "1" 0x00000101) - Pin(1450 2650 60 28 "2" "2" 0x00000001) - Pin(1550 2650 60 28 "3" "3" 0x00000001) - Pin(1650 2650 60 28 "4" "4" 0x00000001) - Pin(1750 2650 60 28 "5" "5" 0x00000001) - Pin(1850 2650 60 28 "6" "6" 0x00000001) - Pin(1950 2650 60 28 "7" "7" 0x00000001) - Pin(2050 2650 60 28 "8" "8" 0x00000001) - Pin(2150 2650 60 28 "9" "9" 0x00000001) - Pin(2250 2650 60 28 "10" "10" 0x00000001) - Pin(2350 2650 60 28 "11" "11" 0x00000001) - Pin(2450 2650 60 28 "12" "12" 0x00000001) - Pin(2450 2050 60 28 "13" "13" 0x00000001) - Pin(2350 2050 60 28 "14" "14" 0x00000001) - Pin(2250 2050 60 28 "15" "15" 0x00000001) - Pin(2150 2050 60 28 "16" "16" 0x00000001) - Pin(2050 2050 60 28 "17" "17" 0x00000001) - Pin(1950 2050 60 28 "18" "18" 0x00000001) - Pin(1850 2050 60 28 "19" "19" 0x00000001) - Pin(1750 2050 60 28 "20" "20" 0x00000001) - Pin(1650 2050 60 28 "21" "21" 0x00000001) - Pin(1550 2050 60 28 "22" "22" 0x00000001) - Pin(1450 2050 60 28 "23" "23" 0x00000001) - Pin(1350 2050 60 28 "24" "24" 0x00000001) - ElementLine (1300 2700 2500 2700 10) - ElementLine (2500 2700 2500 2000 10) - ElementLine (2500 2000 1300 2000 10) - ElementLine (1300 2700 1300 2400 10) - ElementLine (1300 2300 1300 2000 10) - ElementArc (1300 2350 50 50 90 180 10) - Mark (1350 2650) -) - -Element(0x00000000 "generic PAL replacement" "U8" "GAL22V10" 2800 2180 0 100 0x00000000) -( - Pin(2750 2350 60 28 "CLK/I1" "1" 0x00000101) - Pin(2850 2350 60 28 "I2" "2" 0x00000001) - Pin(2950 2350 60 28 "I3" "3" 0x00000001) - Pin(3050 2350 60 28 "I4" "4" 0x00000001) - Pin(3150 2350 60 28 "I5" "5" 0x00000001) - Pin(3250 2350 60 28 "I6" "6" 0x00000001) - Pin(3350 2350 60 28 "I7" "7" 0x00000001) - Pin(3450 2350 60 28 "I8" "8" 0x00000001) - Pin(3550 2350 60 28 "I9" "9" 0x00000001) - Pin(3650 2350 60 28 "I10" "10" 0x00000001) - Pin(3750 2350 60 28 "I11" "11" 0x00000001) - Pin(3850 2350 60 28 "Gnd" "12" 0x00000001) - Pin(3850 2050 60 28 "I12" "13" 0x00000001) - Pin(3750 2050 60 28 "I/O/Qj" "14" 0x00000001) - Pin(3650 2050 60 28 "I/O/Qi" "15" 0x00000001) - Pin(3550 2050 60 28 "I/O/Qh" "16" 0x00000001) - Pin(3450 2050 60 28 "I/O/Qg" "17" 0x00000001) - Pin(3350 2050 60 28 "I/O/Qf" "18" 0x00000001) - Pin(3250 2050 60 28 "I/O/Qe" "19" 0x00000001) - Pin(3150 2050 60 28 "I/O/Qd" "20" 0x00000001) - Pin(3050 2050 60 28 "I/O/Qc" "21" 0x00000001) - Pin(2950 2050 60 28 "I/O/Qb" "22" 0x00000001) - Pin(2850 2050 60 28 "I/O/Qa" "23" 0x00000001) - Pin(2750 2050 60 28 "Vcc" "24" 0x00000001) - ElementLine (2700 2400 3900 2400 10) - ElementLine (3900 2400 3900 2000 10) - ElementLine (3900 2000 2700 2000 10) - ElementLine (2700 2400 2700 2250 10) - ElementLine (2700 2150 2700 2000 10) - ElementArc (2700 2200 50 50 90 180 10) - Mark (2750 2350) -) - -Element(0x00000000 "SUB-D female 9 pins" "J9" "DB9_female" 500 1440 3 100 0x00000000) -( - Pin(850 1240 120 100 "C1" "C1" 0x00000001) - Pin(850 2180 120 100 "C1" "C1" 0x00000001) - Pin(900 1510 60 20 "5" "5" 0x00000001) - Pin(800 1560 60 20 "9" "9" 0x00000001) - Pin(900 1610 60 20 "4" "4" 0x00000001) - Pin(800 1660 60 20 "8" "8" 0x00000001) - Pin(900 1710 60 20 "3" "3" 0x00000001) - Pin(800 1760 60 20 "7" "7" 0x00000001) - Pin(900 1810 60 20 "2" "2" 0x00000001) - Pin(800 1860 60 20 "6" "6" 0x00000001) - Pin(900 1910 60 20 "1" "1" 0x00000101) - ElementLine (390 1120 420 1120 10) - ElementLine (420 1120 420 2300 10) - ElementLine (420 2300 390 2300 10) - ElementLine (390 2300 390 1120 10) - ElementLine (390 1180 420 1180 10) - ElementLine (390 1300 420 1300 10) - ElementLine (390 2240 420 2240 10) - ElementLine (390 2120 420 2120 10) - ElementLine (120 1410 390 1410 20) - ElementLine (390 1410 390 2010 10) - ElementLine (390 2010 120 2010 20) - ElementLine (120 2010 120 1410 20) - ElementLine (420 1350 620 1350 20) - ElementLine (620 1350 620 2070 20) - ElementLine (620 2070 420 2070 20) - ElementLine (420 2070 420 1350 10) - ElementLine (900 1510 620 1510 20) - ElementLine (800 1560 620 1560 20) - ElementLine (900 1610 620 1610 20) - ElementLine (800 1660 620 1660 20) - ElementLine (900 1710 620 1710 20) - ElementLine (800 1760 620 1760 20) - ElementLine (900 1810 620 1810 20) - ElementLine (800 1860 620 1860 20) - ElementLine (900 1910 620 1910 20) - Mark (900 1510) -) - -Element(0x00000000 "LED 5mm" "D9" "Red" 715 2315 0 100 0x00000000) -( - Pin(765 2395 60 20 "-" "1" 0x00000101) - Pin(765 2495 60 20 "+" "2" 0x00000001) - ElementArc (765 2445 50 50 0 360 15) - ElementArc (765 2445 70 70 0 360 10) - Mark (765 2395) -) - -Element(0x00000000 "capacitor_radial" "C7" "1000uFx35V" 4525 2450 2 100 0x00000000) -( - Pin(4900 2200 60 20 "1" "1" 0x00000101) - Pin(4650 2200 60 20 "2" "2" 0x00000001) - ElementArc (4775 2200 250 250 180 360 10) - Mark (4900 2200) -) - -Element(0x00000000 "diode" "D3" "1N4007" 850 3520 3 100 0x00000000) -( - Pin(800 3300 50 20 "1" "1" 0x00000101) - Pin(800 3600 50 20 "2" "2" 0x00000001) - ElementLine (850 3400 750 3400 10) - ElementLine (750 3500 800 3400 10) - ElementLine (850 3500 750 3500 10) - ElementLine (800 3400 850 3500 10) - ElementLine (800 3500 800 3600 10) - ElementLine (800 3300 800 3400 10) - Mark (800 3300) -) - -Element(0x00000000 "IRF1010N" "Q1" "IRF1010N" 5675 2260 0 100 0x00000000) -( - Pin(5775 2450 80 20 "G" "1" 0x00000101) - Pin(5875 2450 80 20 "D" "2" 0x00000001) - Pin(5975 2450 80 20 "S" "3" 0x00000001) - ElementLine (5945 2330 5945 2390 10) - ElementLine (5805 2330 5805 2390 10) - ElementLine (5675 2390 5675 2330 20) - ElementLine (6075 2390 5675 2390 20) - ElementLine (6075 2330 6075 2390 20) - ElementLine (5675 2330 6075 2330 20) - ElementLine (5675 2510 5675 2330 20) - ElementLine (6075 2510 5675 2510 20) - ElementLine (6075 2330 6075 2510 20) - ElementLine (5675 2330 6075 2330 20) - Mark (5775 2450) -) - -Element(0x00000000 "capacitor_radial" "C11" "2.2nF" 5450 2000 0 100 0x00000000) -( - Pin(5300 2100 60 20 "1" "1" 0x00000101) - Pin(5400 2100 60 20 "2" "2" 0x00000001) - ElementArc (5350 2100 100 100 0 360 10) - Mark (5300 2100) -) - -Element(0x00000000 "R 0.25W" "R14" "2k7" 3480 505 1 100 0x00000000) -( - Pin(3500 625 50 20 "1" "1" 0x00000101) - Pin(3500 225 50 20 "2" "2" 0x00000001) - ElementLine (3500 325 3500 225 20) - ElementLine (3500 625 3500 525 20) - ElementLine (3550 525 3450 525 20) - ElementLine (3550 325 3550 525 20) - ElementLine (3450 325 3550 325 20) - ElementLine (3450 525 3450 325 20) - Mark (3500 625) -) - -Element(0x00000000 "connector 2x1 pins" "JP2" "XRESET" 1210 3250 3 100 0x00000000) -( - Pin(1000 3300 60 30 "1" "1" 0x00000101) - Pin(1100 3300 60 30 "2" "2" 0x00000001) - ElementLine (950 3250 950 3350 20) - ElementLine (950 3350 1150 3350 20) - ElementLine (1150 3350 1150 3250 20) - ElementLine (1150 3250 950 3250 20) - ElementLine (950 3350 1050 3350 10) - ElementLine (1050 3350 1050 3250 10) - Mark (1000 3300) -) - -Element(0x00000000 "generic" "U11" "10MHz" 1725 3030 0 100 0x00000000) -( - Pin(1675 3200 60 28 "1" "1" 0x00000101) - Pin(1775 3200 60 28 "2" "2" 0x00000001) - Pin(1875 3200 60 28 "3" "3" 0x00000001) - Pin(1975 3200 60 28 "4" "4" 0x00000001) - Pin(1975 2900 60 28 "5" "5" 0x00000001) - Pin(1875 2900 60 28 "6" "6" 0x00000001) - Pin(1775 2900 60 28 "7" "7" 0x00000001) - Pin(1675 2900 60 28 "8" "8" 0x00000001) - ElementLine (1625 3250 2025 3250 10) - ElementLine (2025 3250 2025 2850 10) - ElementLine (2025 2850 1625 2850 10) - ElementLine (1625 3250 1625 3100 10) - ElementLine (1625 3000 1625 2850 10) - ElementArc (1625 3050 50 50 90 180 10) - Mark (1675 3200) -) - -Element(0x00000000 "capacitor_radial" "C8" "1000uFx35V" 4525 3025 2 100 0x00000000) -( - Pin(4900 2775 60 20 "1" "1" 0x00000101) - Pin(4650 2775 60 20 "2" "2" 0x00000001) - ElementArc (4775 2775 250 250 180 360 10) - Mark (4900 2775) -) - -Element(0x00000000 "+12V 1.5A voltage regulator" "U3" "7812" 5750 3790 2 100 0x00000000) -( - Pin(5650 3600 80 20 "In" "1" 0x00000101) - Pin(5550 3600 80 20 "Com" "2" 0x00000001) - Pin(5450 3600 80 20 "Out" "3" 0x00000001) - ElementLine (5750 3720 5350 3720 20) - ElementLine (5350 3720 5350 3540 20) - ElementLine (5350 3540 5750 3540 20) - ElementLine (5750 3540 5750 3720 20) - ElementLine (5750 3720 5350 3720 20) - ElementLine (5350 3720 5350 3660 20) - ElementLine (5350 3660 5750 3660 20) - ElementLine (5750 3660 5750 3720 20) - ElementLine (5620 3720 5620 3660 10) - ElementLine (5480 3720 5480 3660 10) - Mark (5650 3600) -) - -Element(0x00000000 "R 0.25W" "R9" "10k" 2770 2695 3 100 0x00000000) -( - Pin(2750 2575 50 20 "1" "1" 0x00000101) - Pin(2750 2975 50 20 "2" "2" 0x00000001) - ElementLine (2750 2875 2750 2975 20) - ElementLine (2750 2575 2750 2675 20) - ElementLine (2700 2675 2800 2675 20) - ElementLine (2700 2875 2700 2675 20) - ElementLine (2800 2875 2700 2875 20) - ElementLine (2800 2675 2800 2875 20) - Mark (2750 2575) -) - -Element(0x00000000 "E22 standing" "" "E22" 5550 3525 2 100 0x00000000) -( - ElementLine (5325 3200 5325 3750 20) - ElementLine (5275 3200 5325 3200 20) - ElementLine (5275 3750 5275 3200 20) - ElementLine (5075 3750 5275 3750 20) - ElementLine (5075 3200 5075 3750 20) - ElementLine (5025 3200 5075 3200 20) - ElementLine (5025 3850 5025 3200 20) - ElementLine (5775 3750 5325 3750 20) - ElementLine (5775 3200 5775 3750 20) - ElementLine (5825 3200 5775 3200 20) - ElementLine (5825 3750 5825 3200 20) - ElementLine (6025 3750 5825 3750 20) - ElementLine (6025 3200 6025 3750 20) - ElementLine (6075 3200 6025 3200 20) - ElementLine (6075 3850 6075 3200 20) - ElementLine (6075 3850 5025 3850 20) - Mark (6075 3850) -) - -Element(0x00000000 "R 0.25W" "R12" "1k2" 990 2820 2 100 0x00000000) -( - Pin(1110 2800 50 20 "1" "1" 0x00000101) - Pin(710 2800 50 20 "2" "2" 0x00000001) - ElementLine (810 2800 710 2800 20) - ElementLine (1110 2800 1010 2800 20) - ElementLine (1010 2750 1010 2850 20) - ElementLine (810 2750 1010 2750 20) - ElementLine (810 2850 810 2750 20) - ElementLine (1010 2850 810 2850 20) - Mark (1110 2800) -) - -Element(0x00000000 "capacitor_radial" "C1" "100uFx25V" 4625 3850 2 100 0x00000000) -( - Pin(4850 3700 60 20 "1" "1" 0x00000101) - Pin(4700 3700 60 20 "2" "2" 0x00000001) - ElementArc (4775 3700 150 150 180 360 10) - Mark (4850 3700) -) - -Element(0x00000000 "IRF1010N" "Q4" "IRF1010N" 5150 2735 0 100 0x00000000) -( - Pin(5250 2925 80 20 "G" "1" 0x00000101) - Pin(5350 2925 80 20 "D" "2" 0x00000001) - Pin(5450 2925 80 20 "S" "3" 0x00000001) - ElementLine (5420 2805 5420 2865 10) - ElementLine (5280 2805 5280 2865 10) - ElementLine (5150 2865 5150 2805 20) - ElementLine (5550 2865 5150 2865 20) - ElementLine (5550 2805 5550 2865 20) - ElementLine (5150 2805 5550 2805 20) - ElementLine (5150 2985 5150 2805 20) - ElementLine (5550 2985 5150 2985 20) - ElementLine (5550 2805 5550 2985 20) - ElementLine (5150 2805 5550 2805 20) - Mark (5250 2925) -) - -Element(0x00000000 "DIN 41612C-96 male" "J15" "DIN41612C96_male" 6575 3455 1 200 0x00000000) -( - Pin(6475 475 60 30 "a1" "A1" 0x00000101) - Pin(6475 575 60 30 "a2" "A2" 0x00000001) - Pin(6475 675 60 30 "a3" "A3" 0x00000001) - Pin(6475 775 60 30 "a4" "A4" 0x00000001) - Pin(6475 875 60 30 "a5" "A5" 0x00000001) - Pin(6475 975 60 30 "a6" "A6" 0x00000001) - Pin(6475 1075 60 30 "a7" "A7" 0x00000001) - Pin(6475 1175 60 30 "a8" "A8" 0x00000001) - Pin(6475 1275 60 30 "a9" "A9" 0x00000001) - Pin(6475 1375 60 30 "a10" "A10" 0x00000001) - Pin(6475 1475 60 30 "a11" "A11" 0x00000001) - Pin(6475 1575 60 30 "a12" "A12" 0x00000001) - Pin(6475 1675 60 30 "a13" "A13" 0x00000001) - Pin(6475 1775 60 30 "a14" "A14" 0x00000001) - Pin(6475 1875 60 30 "a15" "A15" 0x00000001) - Pin(6475 1975 60 30 "a16" "A16" 0x00000001) - Pin(6475 2075 60 30 "a17" "A17" 0x00000001) - Pin(6475 2175 60 30 "a18" "A18" 0x00000001) - Pin(6475 2275 60 30 "a19" "A19" 0x00000001) - Pin(6475 2375 60 30 "a20" "A20" 0x00000001) - Pin(6475 2475 60 30 "a21" "A21" 0x00000001) - Pin(6475 2575 60 30 "a22" "A22" 0x00000001) - Pin(6475 2675 60 30 "a23" "A23" 0x00000001) - Pin(6475 2775 60 30 "a24" "A24" 0x00000001) - Pin(6475 2875 60 30 "a25" "A25" 0x00000001) - Pin(6475 2975 60 30 "a26" "A26" 0x00000001) - Pin(6475 3075 60 30 "a27" "A27" 0x00000001) - Pin(6475 3175 60 30 "a28" "A28" 0x00000001) - Pin(6475 3275 60 30 "a29" "A29" 0x00000001) - Pin(6475 3375 60 30 "a30" "A30" 0x00000001) - Pin(6475 3475 60 30 "a31" "A31" 0x00000001) - Pin(6475 3575 60 30 "a32" "A32" 0x00000001) - Pin(6375 475 60 30 "b1" "B1" 0x00000001) - Pin(6375 575 60 30 "b2" "B2" 0x00000001) - Pin(6375 675 60 30 "b3" "B3" 0x00000001) - Pin(6375 775 60 30 "b4" "B4" 0x00000001) - Pin(6375 875 60 30 "b5" "B5" 0x00000001) - Pin(6375 975 60 30 "b6" "B6" 0x00000001) - Pin(6375 1075 60 30 "b7" "B7" 0x00000001) - Pin(6375 1175 60 30 "b8" "B8" 0x00000001) - Pin(6375 1275 60 30 "b9" "B9" 0x00000001) - Pin(6375 1375 60 30 "b10" "B10" 0x00000001) - Pin(6375 1475 60 30 "b11" "B11" 0x00000001) - Pin(6375 1575 60 30 "b12" "B12" 0x00000001) - Pin(6375 1675 60 30 "b13" "B13" 0x00000001) - Pin(6375 1775 60 30 "b14" "B14" 0x00000001) - Pin(6375 1875 60 30 "b15" "B15" 0x00000001) - Pin(6375 1975 60 30 "b16" "B16" 0x00000001) - Pin(6375 2075 60 30 "b17" "B17" 0x00000001) - Pin(6375 2175 60 30 "b18" "B18" 0x00000001) - Pin(6375 2275 60 30 "b19" "B19" 0x00000001) - Pin(6375 2375 60 30 "b20" "B20" 0x00000001) - Pin(6375 2475 60 30 "b21" "B21" 0x00000001) - Pin(6375 2575 60 30 "b22" "B22" 0x00000001) - Pin(6375 2675 60 30 "b23" "B23" 0x00000001) - Pin(6375 2775 60 30 "b24" "B24" 0x00000001) - Pin(6375 2875 60 30 "b25" "B25" 0x00000001) - Pin(6375 2975 60 30 "b26" "B26" 0x00000001) - Pin(6375 3075 60 30 "b27" "B27" 0x00000001) - Pin(6375 3175 60 30 "b28" "B28" 0x00000001) - Pin(6375 3275 60 30 "b29" "B29" 0x00000001) - Pin(6375 3375 60 30 "b30" "B30" 0x00000001) - Pin(6375 3475 60 30 "b31" "B31" 0x00000001) - Pin(6375 3575 60 30 "b32" "B32" 0x00000001) - Pin(6275 475 60 30 "c1" "C1" 0x00000001) - Pin(6275 575 60 30 "c2" "C2" 0x00000001) - Pin(6275 675 60 30 "c3" "C3" 0x00000001) - Pin(6275 775 60 30 "c4" "C4" 0x00000001) - Pin(6275 875 60 30 "c5" "C5" 0x00000001) - Pin(6275 975 60 30 "c6" "C6" 0x00000001) - Pin(6275 1075 60 30 "c7" "C7" 0x00000001) - Pin(6275 1175 60 30 "c8" "C8" 0x00000001) - Pin(6275 1275 60 30 "c9" "C9" 0x00000001) - Pin(6275 1375 60 30 "c10" "C10" 0x00000001) - Pin(6275 1475 60 30 "c11" "C11" 0x00000001) - Pin(6275 1575 60 30 "c12" "C12" 0x00000001) - Pin(6275 1675 60 30 "c13" "C13" 0x00000001) - Pin(6275 1775 60 30 "c14" "C14" 0x00000001) - Pin(6275 1875 60 30 "c15" "C15" 0x00000001) - Pin(6275 1975 60 30 "c16" "C16" 0x00000001) - Pin(6275 2075 60 30 "c17" "C17" 0x00000001) - Pin(6275 2175 60 30 "c18" "C18" 0x00000001) - Pin(6275 2275 60 30 "c19" "C19" 0x00000001) - Pin(6275 2375 60 30 "c20" "C20" 0x00000001) - Pin(6275 2475 60 30 "c21" "C21" 0x00000001) - Pin(6275 2575 60 30 "c22" "C22" 0x00000001) - Pin(6275 2675 60 30 "c23" "C23" 0x00000001) - Pin(6275 2775 60 30 "c24" "C24" 0x00000001) - Pin(6275 2875 60 30 "c25" "C25" 0x00000001) - Pin(6275 2975 60 30 "c26" "C26" 0x00000001) - Pin(6275 3075 60 30 "c27" "C27" 0x00000001) - Pin(6275 3175 60 30 "c28" "C28" 0x00000001) - Pin(6275 3275 60 30 "c29" "C29" 0x00000001) - Pin(6275 3375 60 30 "c30" "C30" 0x00000001) - Pin(6275 3475 60 30 "c31" "C31" 0x00000001) - Pin(6275 3575 60 30 "c32" "C32" 0x00000001) - Pin(6575 3775 120 80 "M1" "M1" 0x00000001) - Pin(6575 275 120 80 "M2" "M2" 0x00000001) - ElementLine (6275 3575 6550 3575 40) - ElementLine (6275 3475 6550 3475 40) - ElementLine (6275 3375 6550 3375 40) - ElementLine (6275 3275 6550 3275 40) - ElementLine (6275 3175 6550 3175 40) - ElementLine (6275 3075 6550 3075 40) - ElementLine (6275 2975 6550 2975 40) - ElementLine (6275 2875 6550 2875 40) - ElementLine (6275 2775 6550 2775 40) - ElementLine (6275 2675 6550 2675 40) - ElementLine (6275 2575 6550 2575 40) - ElementLine (6275 2475 6550 2475 40) - ElementLine (6275 2375 6550 2375 40) - ElementLine (6275 2275 6550 2275 40) - ElementLine (6275 2175 6550 2175 40) - ElementLine (6275 2075 6550 2075 40) - ElementLine (6275 1975 6550 1975 40) - ElementLine (6275 1875 6550 1875 40) - ElementLine (6275 1775 6550 1775 40) - ElementLine (6275 1675 6550 1675 40) - ElementLine (6275 1575 6550 1575 40) - ElementLine (6275 1475 6550 1475 40) - ElementLine (6275 1375 6550 1375 40) - ElementLine (6275 1275 6550 1275 40) - ElementLine (6275 1175 6550 1175 40) - ElementLine (6275 1075 6550 1075 40) - ElementLine (6275 975 6550 975 40) - ElementLine (6275 875 6550 875 40) - ElementLine (6275 775 6550 775 40) - ElementLine (6275 675 6550 675 40) - ElementLine (6275 575 6550 575 40) - ElementLine (6275 475 6550 475 40) - ElementLine (6475 3875 6475 3655 20) - ElementLine (6475 3655 6570 3655 20) - ElementLine (6570 3655 6795 3655 10) - ElementLine (6795 3655 6795 3775 10) - ElementLine (6795 3775 6795 3875 20) - ElementLine (6795 3875 6475 3875 20) - ElementLine (6475 395 6475 175 20) - ElementLine (6475 175 6795 175 20) - ElementLine (6795 175 6795 275 20) - ElementLine (6795 275 6795 395 10) - ElementLine (6795 395 6570 395 10) - ElementLine (6570 395 6475 395 20) - ElementLine (6570 3655 6570 395 20) - ElementLine (6795 3775 6975 3775 20) - ElementLine (6975 3775 6975 275 20) - ElementLine (6975 275 6795 275 20) - Mark (6475 475) -) - -Element(0x00000000 "capacitor_radial" "C9" "220nF" 3125 2700 2 100 0x00000000) -( - Pin(3275 2600 60 20 "1" "1" 0x00000101) - Pin(3175 2600 60 20 "2" "2" 0x00000001) - ElementArc (3225 2600 100 100 180 360 10) - Mark (3275 2600) -) - -Element(0x00000000 "R 0.25W" "R3" "2k2" 4405 505 1 100 0x00000000) -( - Pin(4425 625 50 20 "1" "1" 0x00000101) - Pin(4425 225 50 20 "2" "2" 0x00000001) - ElementLine (4425 325 4425 225 20) - ElementLine (4425 625 4425 525 20) - ElementLine (4475 525 4375 525 20) - ElementLine (4475 325 4475 525 20) - ElementLine (4375 325 4475 325 20) - ElementLine (4375 525 4375 325 20) - Mark (4425 625) -) - -Element(0x00000000 "R 0.25W" "R10" "1k5" 2930 2855 1 100 0x00000000) -( - Pin(2950 2975 50 20 "1" "1" 0x00000101) - Pin(2950 2575 50 20 "2" "2" 0x00000001) - ElementLine (2950 2675 2950 2575 20) - ElementLine (2950 2975 2950 2875 20) - ElementLine (3000 2875 2900 2875 20) - ElementLine (3000 2675 3000 2875 20) - ElementLine (2900 2675 3000 2675 20) - ElementLine (2900 2875 2900 2675 20) - Mark (2950 2975) -) - -Element(0x00000000 "capacitor_radial" "C2" "100uFx16V" 4925 3150 0 100 0x00000000) -( - Pin(4700 3300 60 20 "1" "1" 0x00000101) - Pin(4850 3300 60 20 "2" "2" 0x00000001) - ElementArc (4775 3300 150 150 0 360 10) - Mark (4700 3300) -) - -Element(0x00000000 "E22 standing" "" "E22" 4000 3525 2 100 0x00000000) -( - ElementLine (3775 3200 3775 3750 20) - ElementLine (3725 3200 3775 3200 20) - ElementLine (3725 3750 3725 3200 20) - ElementLine (3525 3750 3725 3750 20) - ElementLine (3525 3200 3525 3750 20) - ElementLine (3475 3200 3525 3200 20) - ElementLine (3475 3850 3475 3200 20) - ElementLine (4225 3750 3775 3750 20) - ElementLine (4225 3200 4225 3750 20) - ElementLine (4275 3200 4225 3200 20) - ElementLine (4275 3750 4275 3200 20) - ElementLine (4475 3750 4275 3750 20) - ElementLine (4475 3200 4475 3750 20) - ElementLine (4525 3200 4475 3200 20) - ElementLine (4525 3850 4525 3200 20) - ElementLine (4525 3850 3475 3850 20) - Mark (4525 3850) -) - -Element(0x00000000 "Push-button, tactile, right angle, 466mils actuator" "S1" "MJTP1236_D" 598 2784 0 100 0x00000000) -( - Pin(500 2695 59 39 "1" "1" 0x00000101) - Pin(500 2872 59 39 "2" "2" 0x00000001) - Pin(598 2646 71 51 "C1" "C1" 0x00000001) - Pin(598 2922 71 51 "C2" "C2" 0x00000001) - ElementLine (658 2646 400 2646 20) - ElementLine (400 2646 400 2922 20) - ElementLine (400 2922 658 2922 20) - ElementLine (538 2922 538 2646 20) - ElementLine (400 2715 34 2725 20) - ElementLine (34 2725 34 2843 20) - ElementLine (34 2843 400 2853 20) - Mark (500 2695) -) - -Element(0x00000000 "IRF1010N" "Q3" "IRF1010N" 5675 2735 0 100 0x00000000) -( - Pin(5775 2925 80 20 "G" "1" 0x00000101) - Pin(5875 2925 80 20 "D" "2" 0x00000001) - Pin(5975 2925 80 20 "S" "3" 0x00000001) - ElementLine (5945 2805 5945 2865 10) - ElementLine (5805 2805 5805 2865 10) - ElementLine (5675 2865 5675 2805 20) - ElementLine (6075 2865 5675 2865 20) - ElementLine (6075 2805 6075 2865 20) - ElementLine (5675 2805 6075 2805 20) - ElementLine (5675 2985 5675 2805 20) - ElementLine (6075 2985 5675 2985 20) - ElementLine (6075 2805 6075 2985 20) - ElementLine (5675 2805 6075 2805 20) - Mark (5775 2925) -) - -Element(0x00000000 "diode" "D7" "1N4007" 5795 1825 0 100 0x00000000) -( - Pin(5575 1875 50 20 "1" "1" 0x00000101) - Pin(5875 1875 50 20 "2" "2" 0x00000001) - ElementLine (5675 1825 5675 1925 10) - ElementLine (5775 1925 5675 1875 10) - ElementLine (5775 1825 5775 1925 10) - ElementLine (5675 1875 5775 1825 10) - ElementLine (5775 1875 5875 1875 10) - ElementLine (5575 1875 5675 1875 10) - Mark (5575 1875) -) - -Element(0x00000000 "optical coupling device" "U5" "6N136" 5775 1005 0 100 0x00000000) -( - Pin(5725 1175 60 28 "NC" "1" 0x00000101) - Pin(5825 1175 60 28 "A+" "2" 0x00000001) - Pin(5925 1175 60 28 "K-" "3" 0x00000001) - Pin(6025 1175 60 28 "NC" "4" 0x00000001) - Pin(6025 875 60 28 "Gnd" "5" 0x00000001) - Pin(5925 875 60 28 "Out" "6" 0x00000001) - Pin(5825 875 60 28 "En" "7" 0x00000001) - Pin(5725 875 60 28 "Vcc" "8" 0x00000001) - ElementLine (5675 1225 6075 1225 10) - ElementLine (6075 1225 6075 825 10) - ElementLine (6075 825 5675 825 10) - ElementLine (5675 1225 5675 1075 10) - ElementLine (5675 975 5675 825 10) - ElementArc (5675 1025 50 50 90 180 10) - Mark (5725 1175) -) - -Element(0x00000000 "IRLZ24N" "Q5" "IRLZ24N" 5675 1910 0 100 0x00000000) -( - Pin(5775 2100 80 20 "G" "1" 0x00000101) - Pin(5875 2100 80 20 "D" "2" 0x00000001) - Pin(5975 2100 80 20 "S" "3" 0x00000001) - ElementLine (5945 1980 5945 2040 10) - ElementLine (5805 1980 5805 2040 10) - ElementLine (5675 2040 5675 1980 20) - ElementLine (6075 2040 5675 2040 20) - ElementLine (6075 1980 6075 2040 20) - ElementLine (5675 1980 6075 1980 20) - ElementLine (5675 2160 5675 1980 20) - ElementLine (6075 2160 5675 2160 20) - ElementLine (6075 1980 6075 2160 20) - ElementLine (5675 1980 6075 1980 20) - Mark (5775 2100) -) - -Element(0x00000000 "optical coupling device" "U4" "6N136" 5775 405 0 100 0x00000000) -( - Pin(5725 575 60 28 "NC" "1" 0x00000101) - Pin(5825 575 60 28 "A+" "2" 0x00000001) - Pin(5925 575 60 28 "K-" "3" 0x00000001) - Pin(6025 575 60 28 "NC" "4" 0x00000001) - Pin(6025 275 60 28 "Gnd" "5" 0x00000001) - Pin(5925 275 60 28 "Out" "6" 0x00000001) - Pin(5825 275 60 28 "En" "7" 0x00000001) - Pin(5725 275 60 28 "Vcc" "8" 0x00000001) - ElementLine (5675 625 6075 625 10) - ElementLine (6075 625 6075 225 10) - ElementLine (6075 225 5675 225 10) - ElementLine (5675 625 5675 475 10) - ElementLine (5675 375 5675 225 10) - ElementArc (5675 425 50 50 90 180 10) - Mark (5725 575) -) - -Element(0x00000000 "capacitor_radial" "C10" "4.7uFx16V" 3325 2800 0 100 0x00000000) -( - Pin(3175 2900 60 20 "1" "1" 0x00000101) - Pin(3275 2900 60 20 "2" "2" 0x00000001) - ElementArc (3225 2900 100 100 0 360 10) - Mark (3175 2900) -) - -Element(0x00000000 "shielded" "J2" "RJ 45" 1125 1128 2 100 0x00000000) -( - Pin(950 575 60 30 "1" "1" 0x00000101) - Pin(1050 625 60 30 "2" "2" 0x00000001) - Pin(950 675 60 30 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* -G04 Format: Gerber/RS-274X * -G04 PCB-Dimensions: 7100 4100 * -G04 PCB-Coordinate-Origin: lower left * -G04 Color: R0 G0 B0 * -* -%FSLAX23Y23*% -%MOIN*% -%ADD11C,0.010*% -%ADD12C,0.025*% -%ADD13C,0.045*% -%ADD14C,0.040*% -%ADD15C,0.001*% -%ADD16C,0.120*% -%ADD17C,0.150*% -%ADD18C,0.020*% -%ADD19R,0.060X0.060*% -%ADD20R,0.090X0.090*% -%ADD21C,0.060*% -%ADD22C,0.090*% -%ADD23C,0.008*% -%ADD24C,0.080*% -%ADD25C,0.110*% -%ADD26C,0.148*% -%ADD27C,0.178*% -%ADD28R,0.080X0.080*% -%ADD29R,0.110X0.110*% -%ADD30R,0.070X0.070*% -%ADD31R,0.100X0.100*% -%ADD32C,0.070*% -%ADD33C,0.100*% -%ADD34C,0.016*% -%ADD35C,0.015*% -%IPPOS*% -G01* -G54D18*X450Y4050D02*Y113D01* -D02*X6750D01* -D02*Y4050D01* -D02*X450D01* -X855Y1045D02*X755D01* -X1155D02*X1055D01* -Y1095D02*Y995D01* -X855Y1095D02*X1055D01* -X855Y995D02*Y1095D01* -X1055Y995D02*X855D01* -G04 Text: R11 * -G54D23*X1035Y1025D02*X1015D01* -D02*X1010Y1030D01* -D02*Y1040D01* -X1015Y1045D02*X1010Y1040D01* -X1030Y1045D02*X1015D01* 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-D02*X5725D01* -D02*Y2120D01* -D02*X6125D01* -D02*Y2060D01* -D02*X5725D01* -D02*Y2120D01* -G54D11*X5855D02*Y2060D01* -X5995Y2120D02*Y2060D01* -G04 Text: Q5 * -G54D23*X5725Y2185D02*Y2155D01* -Y2185D02*X5730Y2190D01* -D02*X5740D01* -D02*X5745Y2185D01* -D02*Y2155D01* -X5740Y2150D02*X5745Y2155D01* -X5730Y2150D02*X5740D01* -X5725Y2155D02*X5730Y2150D01* -X5735Y2160D02*X5745Y2150D01* -X5758Y2190D02*X5778D01* -X5758D02*Y2170D01* -D02*X5763Y2175D01* -D02*X5773D01* -D02*X5778Y2170D01* -D02*Y2155D01* -X5773Y2150D02*X5778Y2155D01* -X5763Y2150D02*X5773D01* -X5758Y2155D02*X5763Y2150D01* -G54D11*X5725Y3125D02*Y3275D01* -Y2875D02*Y3025D01* -X6125Y3275D02*X5725D01* -X6125Y2875D02*Y3275D01* -X5725Y2875D02*X6125D01* -X5724Y3025D02*G75G03I1J50X5725Y3125D01*G01* -G04 Text: U5 * -G54D23*X5825Y3095D02*Y3060D01* -D02*X5830Y3055D01* -D02*X5840D01* -D02*X5845Y3060D01* -Y3095D02*Y3060D01* -X5858Y3095D02*X5878D01* -X5858D02*Y3075D01* -D02*X5863Y3080D01* -D02*X5873D01* -D02*X5878Y3075D01* -D02*Y3060D01* -X5873Y3055D02*X5878Y3060D01* -X5863Y3055D02*X5873D01* -X5858Y3060D02*X5863Y3055D01* -G54D11*X5625Y2225D02*X5725D01* -X5825D02*X5925D01* -X5725D02*X5825Y2275D01* -D02*Y2175D01* -D02*X5725Y2225D01* -Y2275D02*Y2175D01* -G04 Text: D7 * -G54D23*X5850Y2275D02*Y2235D01* -X5865Y2275D02*X5870Y2270D01* -D02*Y2240D01* -X5865Y2235D02*X5870Y2240D01* -X5845Y2235D02*X5865D01* -X5845Y2275D02*X5865D01* -X5883Y2235D02*X5908Y2260D01* -Y2275D02*Y2260D01* -X5883Y2275D02*X5908D01* -G54D18*X5725Y1295D02*X6125D01* -D02*Y1115D01* -D02*X5725D01* -D02*Y1295D01* -D02*X6125D01* -D02*Y1235D01* -D02*X5725D01* -D02*Y1295D01* -G54D11*X5855D02*Y1235D01* -X5995Y1295D02*Y1235D01* -G04 Text: Q3 * -G54D23*X5725Y1360D02*Y1330D01* -Y1360D02*X5730Y1365D01* -D02*X5740D01* -D02*X5745Y1360D01* -D02*Y1330D01* -X5740Y1325D02*X5745Y1330D01* -X5730Y1325D02*X5740D01* -X5725Y1330D02*X5730Y1325D01* -X5735Y1335D02*X5745Y1325D01* -X5758Y1360D02*X5763Y1365D01* -D02*X5773D01* -D02*X5778Y1360D01* -D02*Y1330D01* -X5773Y1325D02*X5778Y1330D01* -X5763Y1325D02*X5773D01* -X5758Y1330D02*X5763Y1325D01* -Y1345D02*X5778D01* -G54D18*X84Y1257D02*X450Y1247D01* -X84Y1375D02*Y1257D01* -X450Y1385D02*X84Y1375D01* -X588Y1178D02*Y1454D01* -X450Y1178D02*X708D01* -X450Y1454D02*Y1178D01* -X708Y1454D02*X450D01* -G04 Text: S1 * -G54D23*X668Y1316D02*X673Y1311D01* -X653Y1316D02*X668D01* -X648Y1311D02*X653Y1316D01* -X648Y1311D02*Y1301D01* -D02*X653Y1296D01* -D02*X668D01* -D02*X673Y1291D01* -D02*Y1281D01* -X668Y1276D02*X673Y1281D01* -X653Y1276D02*X668D01* -X648Y1281D02*X653Y1276D01* -X691D02*X701D01* -X696Y1316D02*Y1276D01* -X686Y1306D02*X696Y1316D01* -G54D18*X4575Y250D02*X3525D01* -X4575D02*Y900D01* -D02*X4525D01* -D02*Y350D01* -D02*X4325D01* -D02*Y900D01* -D02*X4275D01* -D02*Y350D01* -D02*X3825D01* -X3525Y250D02*Y900D01* -D02*X3575D01* -D02*Y350D01* -D02*X3775D01* -D02*Y900D01* -D02*X3825D01* -D02*Y350D01* -G54D11*X4675Y800D02*G75G03I150J0X4675Y801D01*G01* -G04 Text: C2 * -G54D23*X4980Y910D02*X4995D01* -X4975Y915D02*X4980Y910D01* -X4975Y945D02*Y915D01* -Y945D02*X4980Y950D01* -D02*X4995D01* -X5008Y945D02*X5013Y950D01* -D02*X5028D01* -D02*X5033Y945D01* -D02*Y935D01* -X5008Y910D02*X5033Y935D01* -X5008Y910D02*X5033D01* -G54D18*X2950Y1225D02*Y1425D01* -D02*X3050D01* -D02*Y1225D01* -D02*X2950D01* -X3000Y1125D02*Y1225D01* -Y1425D02*Y1525D01* -G04 Text: R10 * -G54D23*X2980Y1245D02*Y1265D01* -D02*X2985Y1270D01* -D02*X2995D01* -X3000Y1265D02*X2995Y1270D01* -X3000Y1250D02*Y1265D01* -X2980Y1250D02*X3020D01* -X3000D02*X3020Y1270D01* -Y1288D02*Y1298D01* -X2980Y1293D02*X3020D01* -X2990Y1283D02*X2980Y1293D01* -X3015Y1311D02*X3020Y1316D01* -X2985Y1311D02*X3015D01* -X2985D02*X2980Y1316D01* -D02*Y1326D01* -D02*X2985Y1331D01* -D02*X3015D01* -X3020Y1326D02*X3015Y1331D01* -X3020Y1316D02*Y1326D01* -X3010Y1311D02*X2990Y1331D01* -G54D18*X4425Y3575D02*Y3775D01* -D02*X4525D01* -D02*Y3575D01* -D02*X4425D01* -X4475Y3475D02*Y3575D01* -Y3775D02*Y3875D01* -G04 Text: R3 * -G54D23*X4455Y3595D02*Y3615D01* -D02*X4460Y3620D01* -D02*X4470D01* -X4475Y3615D02*X4470Y3620D01* -X4475Y3600D02*Y3615D01* -X4455Y3600D02*X4495D01* -X4475D02*X4495Y3620D01* -X4460Y3633D02*X4455Y3638D01* -D02*Y3648D01* -D02*X4460Y3653D01* -D02*X4490D01* -X4495Y3648D02*X4490Y3653D01* -X4495Y3638D02*Y3648D01* -X4490Y3633D02*X4495Y3638D01* -X4475D02*Y3653D01* -G54D11*X3375Y1500D02*G75G03I-100J0X3375Y1500D01*G01* -G04 Text: C9 * -G54D23*X3170Y1440D02*X3155D01* -X3175Y1435D02*X3170Y1440D01* -X3175Y1405D02*Y1435D01* -Y1405D02*X3170Y1400D01* -D02*X3155D01* -X3142Y1440D02*X3122Y1420D01* -Y1405D02*Y1420D01* -X3127Y1400D02*X3122Y1405D01* -X3137Y1400D02*X3127D01* -X3142Y1405D02*X3137Y1400D01* -X3142Y1405D02*Y1415D01* -D02*X3137Y1420D01* -D02*X3122D01* -G54D18*X7025Y3825D02*X6845D01* -X7025Y325D02*Y3825D01* -X6845Y325D02*X7025D01* -X6620Y445D02*Y3705D01* -D02*X6525D01* -G54D11*X6845D02*X6620D01* -X6845Y3825D02*Y3705D01* -G54D18*Y3925D02*Y3825D01* -X6525Y3925D02*X6845D01* -X6525Y3705D02*Y3925D01* -X6845Y225D02*X6525D01* -X6845Y325D02*Y225D01* -G54D11*Y445D02*Y325D01* -X6620Y445D02*X6845D01* -G54D18*X6525D02*X6620D01* -X6525Y225D02*Y445D01* -G54D14*X6325Y3625D02*X6600D01* -X6325Y3525D02*X6600D01* -X6325Y3425D02*X6600D01* -X6325Y3325D02*X6600D01* -X6325Y3225D02*X6600D01* -X6325Y3125D02*X6600D01* -X6325Y3025D02*X6600D01* -X6325Y2925D02*X6600D01* -X6325Y2825D02*X6600D01* -X6325Y2725D02*X6600D01* -X6325Y2625D02*X6600D01* -X6325Y2525D02*X6600D01* -X6325Y2425D02*X6600D01* -X6325Y2325D02*X6600D01* -X6325Y2225D02*X6600D01* -X6325Y2125D02*X6600D01* -X6325Y2025D02*X6600D01* -X6325Y1925D02*X6600D01* -X6325Y1825D02*X6600D01* -X6325Y1725D02*X6600D01* -X6325Y1625D02*X6600D01* -X6325Y1525D02*X6600D01* -X6325Y1425D02*X6600D01* -X6325Y1325D02*X6600D01* -X6325Y1225D02*X6600D01* -X6325Y1125D02*X6600D01* -X6325Y1025D02*X6600D01* -X6325Y925D02*X6600D01* -X6325Y825D02*X6600D01* -X6325Y725D02*X6600D01* -X6325Y625D02*X6600D01* -X6325Y525D02*X6600D01* -G04 Text: J15 * -G54D34*X6625Y645D02*Y675D01* -D02*X6695D01* -X6705Y665D02*X6695Y675D01* -X6705Y655D02*Y665D01* -X6695Y645D02*X6705Y655D01* -Y711D02*Y731D01* -X6625Y721D02*X6705D01* -X6645Y701D02*X6625Y721D01* -Y757D02*Y797D01* -Y757D02*X6665D01* -D02*X6655Y767D01* -D02*Y787D01* -D02*X6665Y797D01* -D02*X6695D01* -X6705Y787D02*X6695Y797D01* -X6705Y767D02*Y787D01* -X6695Y757D02*X6705Y767D01* -G54D18*X5200Y1295D02*X5600D01* -D02*Y1115D01* -D02*X5200D01* -D02*Y1295D01* -D02*X5600D01* -D02*Y1235D01* -D02*X5200D01* -D02*Y1295D01* -G54D11*X5330D02*Y1235D01* -X5470Y1295D02*Y1235D01* -G04 Text: Q4 * -G54D23*X5200Y1360D02*Y1330D01* -Y1360D02*X5205Y1365D01* -D02*X5215D01* -D02*X5220Y1360D01* -D02*Y1330D01* -X5215Y1325D02*X5220Y1330D01* -X5205Y1325D02*X5215D01* -X5200Y1330D02*X5205Y1325D01* -X5210Y1335D02*X5220Y1325D01* -X5233Y1345D02*X5253Y1365D01* -X5233Y1345D02*X5258D01* -X5253Y1365D02*Y1325D01* -G54D11*X4975Y400D02*G75G03I-150J0X4975Y400D01*G01* -G04 Text: C1 * -G54D23*X4670Y290D02*X4655D01* -X4675Y285D02*X4670Y290D01* -X4675Y255D02*Y285D01* -Y255D02*X4670Y250D01* -D02*X4655D01* -X4637Y290D02*X4627D01* -X4632Y250D02*Y290D01* -X4642Y260D02*X4632Y250D01* -G54D18*X1060Y1250D02*X860D01* -D02*Y1350D01* -D02*X1060D01* -D02*Y1250D01* -X1160Y1300D02*X1060D01* -X860D02*X760D01* -G04 Text: R12 * -G54D23*X1040Y1280D02*X1020D01* -D02*X1015Y1285D01* -D02*Y1295D01* -X1020Y1300D02*X1015Y1295D01* -X1035Y1300D02*X1020D01* -X1035Y1280D02*Y1320D01* -Y1300D02*X1015Y1320D01* -X997D02*X987D01* -X992Y1280D02*Y1320D01* -X1002Y1290D02*X992Y1280D01* -X974Y1285D02*X969Y1280D01* -D02*X954D01* -D02*X949Y1285D01* -D02*Y1295D01* -X974Y1320D02*X949Y1295D01* -X974Y1320D02*X949D01* -G54D18*X6125Y250D02*X5075D01* -X6125D02*Y900D01* -D02*X6075D01* -D02*Y350D01* -D02*X5875D01* -D02*Y900D01* -D02*X5825D01* -D02*Y350D01* -D02*X5375D01* -X5075Y250D02*Y900D01* -D02*X5125D01* -D02*Y350D01* -D02*X5325D01* -D02*Y900D01* -D02*X5375D01* -D02*Y350D01* -X2850Y1425D02*Y1225D01* -D02*X2750D01* -D02*Y1425D01* -D02*X2850D01* -X2800Y1525D02*Y1425D01* -Y1225D02*Y1125D01* -G04 Text: R9 * -G54D23*X2820Y1405D02*Y1385D01* -D02*X2815Y1380D01* -D02*X2805D01* -X2800Y1385D02*X2805Y1380D01* -X2800Y1400D02*Y1385D01* -X2820Y1400D02*X2780D01* -X2800D02*X2780Y1380D01* -Y1367D02*X2800Y1347D01* -X2815D02*X2800D01* -X2820Y1352D02*X2815Y1347D01* -X2820Y1362D02*Y1352D01* -X2815Y1367D02*X2820Y1362D01* -X2815Y1367D02*X2805D01* -D02*X2800Y1362D01* -D02*Y1347D01* -G54D11*X5530Y380D02*Y440D01* -X5670Y380D02*Y440D01* -G54D18*X5800D02*Y380D01* -X5400Y440D02*X5800D01* -X5400Y380D02*Y440D01* -X5800Y380D02*X5400D01* -X5800Y560D02*Y380D01* -X5400Y560D02*X5800D01* -X5400Y380D02*Y560D01* -X5800Y380D02*X5400D01* -G04 Text: U3 * -G54D23*X5800Y310D02*Y345D01* -D02*X5795Y350D01* -D02*X5785D01* -D02*X5780Y345D01* -Y310D02*Y345D01* -X5767Y315D02*X5762Y310D01* -D02*X5752D01* -D02*X5747Y315D01* -D02*Y345D01* -X5752Y350D02*X5747Y345D01* -X5762Y350D02*X5752D01* -X5767Y345D02*X5762Y350D01* -Y330D02*X5747D01* -G54D11*X5075Y1325D02*G75G03I-250J0X5075Y1325D01*G01* -G04 Text: C8 * -G54D23*X4570Y1115D02*X4555D01* -X4575Y1110D02*X4570Y1115D01* -X4575Y1080D02*Y1110D01* -Y1080D02*X4570Y1075D01* -D02*X4555D01* -X4542Y1110D02*X4537Y1115D01* -X4542Y1100D02*Y1110D01* -Y1100D02*X4537Y1095D01* -D02*X4527D01* -D02*X4522Y1100D01* -D02*Y1110D01* -X4527Y1115D02*X4522Y1110D01* -X4537Y1115D02*X4527D01* -X4542Y1090D02*X4537Y1095D01* -X4542Y1080D02*Y1090D01* -Y1080D02*X4537Y1075D01* -D02*X4527D01* -D02*X4522Y1080D01* -D02*Y1090D01* -X4527Y1095D02*X4522Y1090D01* -G54D11*X1675Y1100D02*Y1250D01* -Y850D02*Y1000D01* -X2075Y1250D02*X1675D01* -X2075Y850D02*Y1250D01* -X1675Y850D02*X2075D01* -X1674Y1000D02*G75G03I1J50X1675Y1100D01*G01* -G04 Text: U11 * -G54D23*X1775Y1070D02*Y1035D01* -D02*X1780Y1030D01* -D02*X1790D01* -D02*X1795Y1035D01* -Y1070D02*Y1035D01* -X1813Y1030D02*X1823D01* -X1818Y1070D02*Y1030D01* -X1808Y1060D02*X1818Y1070D01* -X1841Y1030D02*X1851D01* -X1846Y1070D02*Y1030D01* -X1836Y1060D02*X1846Y1070D01* -G54D11*X1100Y750D02*Y850D01* -X1000Y750D02*X1100D01* -G54D18*X1200Y850D02*X1000D01* -X1200Y750D02*Y850D01* -X1000Y750D02*X1200D01* -X1000Y850D02*Y750D01* -G04 Text: JP2 * -G54D23*X1260Y850D02*Y835D01* -D02*X1225D01* -X1220Y840D02*X1225Y835D01* -X1220Y845D02*Y840D01* -X1225Y850D02*X1220Y845D01* -X1260Y817D02*X1220D01* -X1260Y822D02*Y802D01* -D02*X1255Y797D01* -D02*X1245D01* -X1240Y802D02*X1245Y797D01* -X1240Y817D02*Y802D01* -X1255Y784D02*X1260Y779D01* -D02*Y764D01* -D02*X1255Y759D01* -D02*X1245D01* -X1220Y784D02*X1245Y759D01* -X1220Y784D02*Y759D01* -G54D18*X3500Y3575D02*Y3775D01* -D02*X3600D01* -D02*Y3575D01* -D02*X3500D01* -X3550Y3475D02*Y3575D01* -Y3775D02*Y3875D01* -G04 Text: R14 * -G54D23*X3530Y3595D02*Y3615D01* -D02*X3535Y3620D01* -D02*X3545D01* -X3550Y3615D02*X3545Y3620D01* -X3550Y3600D02*Y3615D01* -X3530Y3600D02*X3570D01* -X3550D02*X3570Y3620D01* -Y3638D02*Y3648D01* -X3530Y3643D02*X3570D01* -X3540Y3633D02*X3530Y3643D01* -X3550Y3661D02*X3530Y3681D01* -X3550Y3661D02*Y3686D01* -X3530Y3681D02*X3570D01* -G54D11*X5300Y2000D02*G75G03I100J0X5300Y2001D01*G01* -G04 Text: C11 * -G54D23*X5505Y2060D02*X5520D01* -X5500Y2065D02*X5505Y2060D01* -X5500Y2095D02*Y2065D01* -Y2095D02*X5505Y2100D01* -D02*X5520D01* -X5538Y2060D02*X5548D01* -X5543Y2100D02*Y2060D01* -X5533Y2090D02*X5543Y2100D01* -X5566Y2060D02*X5576D01* -X5571Y2100D02*Y2060D01* -X5561Y2090D02*X5571Y2100D01* -G54D18*X5725Y1770D02*X6125D01* -D02*Y1590D01* -D02*X5725D01* -D02*Y1770D01* -D02*X6125D01* -D02*Y1710D01* -D02*X5725D01* -D02*Y1770D01* -G54D11*X5855D02*Y1710D01* -X5995Y1770D02*Y1710D01* -G04 Text: Q1 * -G54D23*X5725Y1835D02*Y1805D01* -Y1835D02*X5730Y1840D01* -D02*X5740D01* -D02*X5745Y1835D01* -D02*Y1805D01* -X5740Y1800D02*X5745Y1805D01* -X5730Y1800D02*X5740D01* -X5725Y1805D02*X5730Y1800D01* -X5735Y1810D02*X5745Y1800D01* -X5763D02*X5773D01* -X5768Y1840D02*Y1800D01* -X5758Y1830D02*X5768Y1840D01* -G54D11*X850Y800D02*Y700D01* -Y600D02*Y500D01* -Y700D02*X900Y600D01* -D02*X800D01* -D02*X850Y700D01* -X900D02*X800D01* -G04 Text: D3 * -G54D23*X900Y575D02*X860D01* -X900Y560D02*X895Y555D01* -D02*X865D01* -X860Y560D02*X865Y555D01* -X860Y580D02*Y560D01* -X900Y580D02*Y560D01* -X895Y542D02*X900Y537D01* -D02*Y527D01* -D02*X895Y522D01* -D02*X865D01* -X860Y527D02*X865Y522D01* -X860Y537D02*Y527D01* -X865Y542D02*X860Y537D01* -X880D02*Y522D01* -G54D11*X5075Y1900D02*G75G03I-250J0X5075Y1900D01*G01* -G04 Text: C7 * -G54D23*X4570Y1690D02*X4555D01* -X4575Y1685D02*X4570Y1690D01* -X4575Y1655D02*Y1685D01* -Y1655D02*X4570Y1650D01* -D02*X4555D01* -X4542Y1690D02*X4517Y1665D01* -Y1650D02*Y1665D01* -X4542Y1650D02*X4517D01* -G54D11*X745Y1655D02*G75G03I70J0X745Y1656D01*G01* -G54D35*X765Y1655D02*G75G03I50J0X765Y1656D01*G01* -G04 Text: D9 * -G54D23*X770Y1785D02*Y1745D01* -X785Y1785D02*X790Y1780D01* -D02*Y1750D01* -X785Y1745D02*X790Y1750D01* -X765Y1745D02*X785D01* -X765Y1785D02*X785D01* -X803Y1745D02*X823Y1765D01* -Y1780D02*Y1765D01* -X818Y1785D02*X823Y1780D01* -X808Y1785D02*X818D01* -X803Y1780D02*X808Y1785D01* -X803Y1780D02*Y1770D01* 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-X1483Y1765D02*Y1735D01* -D02*X1488Y1730D01* -X1498Y1750D02*X1503Y1745D01* -X1483Y1750D02*X1498D01* -X1488Y1730D02*X1498D01* -D02*X1503Y1735D01* -Y1745D02*Y1735D01* -G54D18*X4150Y2100D02*Y1700D01* -D02*X4350D01* -D02*Y2100D01* -D02*X4150D01* -G54D11*Y2000D02*X4250D01* -D02*Y2100D01* -G04 Text: JP1 * -G54D23*X4410D02*Y2085D01* -D02*X4375D01* -X4370Y2090D02*X4375Y2085D01* -X4370Y2095D02*Y2090D01* -X4375Y2100D02*X4370Y2095D01* -X4410Y2067D02*X4370D01* -X4410Y2072D02*Y2052D01* -D02*X4405Y2047D01* -D02*X4395D01* -X4390Y2052D02*X4395Y2047D01* -X4390Y2067D02*Y2052D01* -X4370Y2029D02*Y2019D01* -X4410Y2024D02*X4370D01* -X4400Y2034D02*X4410Y2024D01* -G54D11*X3125Y375D02*G75G03I100J0X3125Y376D01*G01* -G04 Text: C4 * -G54D23*X3330Y435D02*X3345D01* -X3325Y440D02*X3330Y435D01* -X3325Y470D02*Y440D01* -Y470D02*X3330Y475D01* -D02*X3345D01* -X3358Y455D02*X3378Y475D01* -X3358Y455D02*X3383D01* -X3378Y475D02*Y435D01* -G54D11*X2400Y3725D02*Y3875D01* -Y3475D02*Y3625D01* -X3200Y3875D02*X2400D01* -X3200Y3475D02*Y3875D01* -X2400Y3475D02*X3200D01* -X2399Y3625D02*G75G03I1J50X2400Y3725D01*G01* -G04 Text: U7 * -G54D23*X2500Y3695D02*Y3660D01* -D02*X2505Y3655D01* -D02*X2515D01* -D02*X2520Y3660D01* -Y3695D02*Y3660D01* -X2533Y3655D02*X2558Y3680D01* -Y3695D02*Y3680D01* -X2533Y3695D02*X2558D01* -G54D18*X5200Y1770D02*X5600D01* -D02*Y1590D01* -D02*X5200D01* -D02*Y1770D01* -D02*X5600D01* -D02*Y1710D01* -D02*X5200D01* -D02*Y1770D01* -G54D11*X5330D02*Y1710D01* -X5470Y1770D02*Y1710D01* -G04 Text: Q2 * -G54D23*X5200Y1835D02*Y1805D01* -Y1835D02*X5205Y1840D01* -D02*X5215D01* -D02*X5220Y1835D01* -D02*Y1805D01* -X5215Y1800D02*X5220Y1805D01* -X5205Y1800D02*X5215D01* -X5200Y1805D02*X5205Y1800D01* -X5210Y1810D02*X5220Y1800D01* -X5233Y1835D02*X5238Y1840D01* -D02*X5253D01* -D02*X5258Y1835D01* -D02*Y1825D01* -X5233Y1800D02*X5258Y1825D01* -X5233Y1800D02*X5258D01* -G54D35*X525Y1655D02*G75G03I50J0X525Y1656D01*G01* -G54D11*X505Y1655D02*G75G03I70J0X505Y1656D01*G01* -G04 Text: D10 * -G54D23*X530Y1785D02*Y1745D01* -X545Y1785D02*X550Y1780D01* -D02*Y1750D01* -X545Y1745D02*X550Y1750D01* -X525Y1745D02*X545D01* -X525Y1785D02*X545D01* -X568Y1745D02*X578D01* -X573Y1785D02*Y1745D01* -X563Y1775D02*X573Y1785D01* -X591Y1750D02*X596Y1745D01* -X591Y1780D02*Y1750D01* -Y1780D02*X596Y1785D01* -D02*X606D01* -D02*X611Y1780D01* -D02*Y1750D01* -X606Y1745D02*X611Y1750D01* -X596Y1745D02*X606D01* -X591Y1755D02*X611Y1775D01* -G54D11*X1625Y575D02*X1525D01* -Y475D02*X1575Y575D01* -X1625Y475D02*X1525D01* -X1575Y575D02*X1625Y475D01* -X1575D02*Y375D01* -Y675D02*Y575D01* -G04 Text: D1 * -G54D23*X1625Y450D02*X1585D01* -X1625Y435D02*X1620Y430D01* -D02*X1590D01* -X1585Y435D02*X1590Y430D01* -X1585Y455D02*Y435D01* -X1625Y455D02*Y435D01* -X1585Y412D02*Y402D01* -X1625Y407D02*X1585D01* -X1615Y417D02*X1625Y407D01* -G54D18*X5525Y3575D02*Y3775D01* -D02*X5625D01* -D02*Y3575D01* -D02*X5525D01* -X5575Y3475D02*Y3575D01* -Y3775D02*Y3875D01* -G04 Text: R4 * -G54D23*X5555Y3595D02*Y3615D01* -D02*X5560Y3620D01* -D02*X5570D01* -X5575Y3615D02*X5570Y3620D01* -X5575Y3600D02*Y3615D01* -X5555Y3600D02*X5595D01* -X5575D02*X5595Y3620D01* -X5575Y3633D02*X5555Y3653D01* -X5575Y3633D02*Y3658D01* -X5555Y3653D02*X5595D01* -G54D11*X3925Y3725D02*Y3875D01* -Y3475D02*Y3625D01* -X4325Y3875D02*X3925D01* -X4325Y3475D02*Y3875D01* -X3925Y3475D02*X4325D01* -X3924Y3625D02*G75G03I1J50X3925Y3725D01*G01* -G04 Text: U13 * -G54D23*X4025Y3695D02*Y3660D01* -D02*X4030Y3655D01* -D02*X4040D01* -D02*X4045Y3660D01* -Y3695D02*Y3660D01* -X4063Y3655D02*X4073D01* -X4068Y3695D02*Y3655D01* -X4058Y3685D02*X4068Y3695D01* -X4086Y3690D02*X4091Y3695D01* -D02*X4101D01* -D02*X4106Y3690D01* -D02*Y3660D01* -X4101Y3655D02*X4106Y3660D01* -X4091Y3655D02*X4101D01* -X4086Y3660D02*X4091Y3655D01* -Y3675D02*X4106D01* -G54D11*X4825Y3125D02*Y3275D01* -Y2875D02*Y3025D01* -X5225Y3275D02*X4825D01* -X5225Y2875D02*Y3275D01* -X4825Y2875D02*X5225D01* -X4824Y3025D02*G75G03I1J50X4825Y3125D01*G01* -G04 Text: U14 * -G54D23*X4925Y3095D02*Y3060D01* -D02*X4930Y3055D01* -D02*X4940D01* -D02*X4945Y3060D01* -Y3095D02*Y3060D01* -X4963Y3055D02*X4973D01* -X4968Y3095D02*Y3055D01* -X4958Y3085D02*X4968Y3095D01* -X4986Y3075D02*X5006Y3095D01* -X4986Y3075D02*X5011D01* -X5006Y3095D02*Y3055D01* -G54D18*X5325Y2975D02*Y3175D01* -D02*X5425D01* -D02*Y2975D01* -D02*X5325D01* -X5375Y2875D02*Y2975D01* -Y3175D02*Y3275D01* -G04 Text: R5 * -G54D23*X5355Y2995D02*Y3015D01* -D02*X5360Y3020D01* -D02*X5370D01* -X5375Y3015D02*X5370Y3020D01* -X5375Y3000D02*Y3015D01* -X5355Y3000D02*X5395D01* -X5375D02*X5395Y3020D01* -X5355Y3033D02*Y3053D01* -Y3033D02*X5375D01* -D02*X5370Y3038D01* -D02*Y3048D01* -D02*X5375Y3053D01* -D02*X5390D01* -X5395Y3048D02*X5390Y3053D01* -X5395Y3038D02*Y3048D01* -X5390Y3033D02*X5395Y3038D01* -G54D18*X4625Y2975D02*Y3175D01* -D02*X4725D01* -D02*Y2975D01* -D02*X4625D01* -X4675Y2875D02*Y2975D01* -Y3175D02*Y3275D01* -G04 Text: R6 * -G54D23*X4655Y2995D02*Y3015D01* -D02*X4660Y3020D01* -D02*X4670D01* -X4675Y3015D02*X4670Y3020D01* -X4675Y3000D02*Y3015D01* -X4655Y3000D02*X4695D01* -X4675D02*X4695Y3020D01* -X4655Y3048D02*X4660Y3053D01* -X4655Y3038D02*Y3048D01* -X4660Y3033D02*X4655Y3038D01* -X4660Y3033D02*X4690D01* -D02*X4695Y3038D01* -X4675Y3048D02*X4680Y3053D01* -X4675Y3033D02*Y3048D01* -X4695Y3038D02*Y3048D01* -D02*X4690Y3053D01* -X4680D02*X4690D01* -G54D18*X4625Y3575D02*Y3775D01* -D02*X4725D01* -D02*Y3575D01* -D02*X4625D01* -X4675Y3475D02*Y3575D01* -Y3775D02*Y3875D01* -G04 Text: R2 * -G54D23*X4655Y3595D02*Y3615D01* -D02*X4660Y3620D01* -D02*X4670D01* -X4675Y3615D02*X4670Y3620D01* -X4675Y3600D02*Y3615D01* -X4655Y3600D02*X4695D01* -X4675D02*X4695Y3620D01* -X4660Y3633D02*X4655Y3638D01* -D02*Y3653D01* -D02*X4660Y3658D01* -D02*X4670D01* -X4695Y3633D02*X4670Y3658D01* -X4695Y3633D02*Y3658D01* -G54D11*X4825Y3725D02*Y3875D01* -Y3475D02*Y3625D01* -X5225Y3875D02*X4825D01* -X5225Y3475D02*Y3875D01* -X4825Y3475D02*X5225D01* -X4824Y3625D02*G75G03I1J50X4825Y3725D01*G01* -G04 Text: U12 * -G54D23*X4925Y3695D02*Y3660D01* -D02*X4930Y3655D01* -D02*X4940D01* -D02*X4945Y3660D01* -Y3695D02*Y3660D01* -X4963Y3655D02*X4973D01* -X4968Y3695D02*Y3655D01* -X4958Y3685D02*X4968Y3695D01* -X4986Y3690D02*X4991Y3695D01* -D02*X5006D01* -D02*X5011Y3690D01* -D02*Y3680D01* -X4986Y3655D02*X5011Y3680D01* -X4986Y3655D02*X5011D01* -G54D18*X5325Y3575D02*Y3775D01* -D02*X5425D01* -D02*Y3575D01* -D02*X5325D01* -X5375Y3475D02*Y3575D01* -Y3775D02*Y3875D01* -G04 Text: R1 * -G54D23*X5355Y3595D02*Y3615D01* -D02*X5360Y3620D01* -D02*X5370D01* -X5375Y3615D02*X5370Y3620D01* -X5375Y3600D02*Y3615D01* -X5355Y3600D02*X5395D01* -X5375D02*X5395Y3620D01* -Y3638D02*Y3648D01* -X5355Y3643D02*X5395D01* -X5365Y3633D02*X5355Y3643D01* -G54D18*X5525Y2975D02*Y3175D01* -D02*X5625D01* -D02*Y2975D01* -D02*X5525D01* -X5575Y2875D02*Y2975D01* -Y3175D02*Y3275D01* -G04 Text: R8 * -G54D23*X5555Y2995D02*Y3015D01* -D02*X5560Y3020D01* -D02*X5570D01* -X5575Y3015D02*X5570Y3020D01* -X5575Y3000D02*Y3015D01* -X5555Y3000D02*X5595D01* -X5575D02*X5595Y3020D01* 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/dev/null @@ -1,3915 +0,0 @@ -%!PS-Adobe-3.0 -%%Title: (unknown), Fabrication Drawing -%%Creator: pcb-bin 20060321 -%%CreationDate: Tue Nov 27 09:49:27 2007 -%%For: fetter (Walter Fetter Lages,,,) -%%LanguageLevel: 1 -%%Orientation: Portrait -%%Pages: 1 -%%PageOrder: Ascend -%%DocumentMedia: A4 594 841 -%%EndComments -%%BeginProlog - -/PcbDict 200 dict def -PcbDict begin -PcbDict /DictMatrix matrix put - -% some constants -/Black {0.0 mysetgray} def -/White {1.0 mysetgray} def -/TAN {0.207106781} def -/MTAN {-0.207106781} def - -% draw a filled polygon -% get (x,y)... and number of points from stack -/PO { - /number exch def - newpath - moveto - number 1 sub { lineto } repeat - closepath fill stroke -} def - -/P { -% draw a pin-polygon, -% get x, y and thickness from stack - /thickness exch def /y exch def /x exch def - gsave x y translate thickness thickness scale - 0.5 MTAN - TAN -0.5 - MTAN -0.5 - -0.5 MTAN - -0.5 TAN - MTAN 0.5 - TAN 0.5 - 0.5 TAN - 8 PO grestore -} def - -/PV { -% pin or via, x, y and thickness are on the stack - /drillinghole exch def /thickness exch def /y exch def /x exch def - x y thickness P -% draw drilling hole - gsave White 0 setlinewidth - newpath x y drillinghole 2 div 0 360 arc closepath fill stroke - grestore -} def - -/PVR { -% pin or via, x, y and thickness are on the stack - /drillinghole exch def /thickness exch def /y exch def /x exch def - gsave 0 setlinewidth - newpath x y thickness 2 div 0 360 arc closepath fill stroke -% draw drilling whole - White - newpath x y drillinghole 2 div 0 360 arc closepath fill stroke - grestore -} def - -/PVSQ { -% square pin or via, x, y and thickness are on the stack - /drillinghole exch def /thickness exch def /y exch def /x exch def - newpath x thickness 2 div sub y thickness 2 div sub moveto - thickness 0 rlineto 0 thickness rlineto - thickness neg 0 rlineto closepath fill stroke -% draw drilling hole - gsave White 0 setlinewidth - newpath x y drillinghole 2 div 0 360 arc closepath fill stroke - grestore -} def - -/DH { -% drill helpher; x, y, hole, copper-thickness are on stack - /copper exch def /hole exch def /y exch def /x exch def - gsave copper setlinewidth - newpath x y hole copper add 2 div 0 360 arc closepath stroke - grestore -} def - -/L { -% line, get x1, y1, x2, y2 and thickness from stack - /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def - gsave thick setlinewidth - x1 y1 moveto x2 y2 lineto stroke - grestore -} def - -/CL { -% line, get x1, y1, x2, y2 and thickness from stack - /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def - gsave White thick setlinewidth - x1 y1 moveto x2 y2 lineto stroke - grestore -} def - -/B { -% filled box, get x1, y1, x2 and y2 from stack - /y2 exch def /x2 exch def /y1 exch def /x1 exch def - newpath - x1 y1 moveto x2 y1 lineto x2 y2 lineto x1 y2 lineto - closepath fill stroke -} def - -/PA { -% pad, same as line - L -} def - -/A { -% arc for elements, get x, y, width, height, thickness 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def /y exch def /x exch def - gsave White x y thickness P grestore -} def - -/CLRPVSQ { -% clears a square pin, x,y and thickness are on stack - /thickness exch def /y exch def /x exch def - gsave White - newpath x thickness 2 div sub y thickness 2 div sub moveto - thickness 0 rlineto 0 thickness rlineto - thickness neg 0 rlineto closepath fill stroke - grestore -} def - -/CLRPVR { -% clears a round pin/via for groundplane; x,y and thickness are on the stack - /thickness exch def /y exch def /x exch def - gsave White 0 setlinewidth - newpath x y thickness 2 div 0 360 arc closepath fill stroke - grestore -} def - -/CLRPA { -% clear line, get x1, y1, x2, y2 and thickness from stack - /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def - gsave White thick setlinewidth - x1 y1 moveto x2 y2 lineto stroke - grestore -} def - -/CLRB { -% cleared box, get x1, y1, x2 and y2 from stack - /y2 exch def /x2 exch def /y1 exch def /x1 exch def - gsave White newpath - x1 y1 moveto x2 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def -/MTAN {-0.207106781} def - -% draw a filled polygon -% get (x,y)... and number of points from stack -/PO { - /number exch def - newpath - moveto - number 1 sub { lineto } repeat - closepath fill stroke -} def - -/P { -% draw a pin-polygon, -% get x, y and thickness from stack - /thickness exch def /y exch def /x exch def - gsave x y translate thickness thickness scale - 0.5 MTAN - TAN -0.5 - MTAN -0.5 - -0.5 MTAN - -0.5 TAN - MTAN 0.5 - TAN 0.5 - 0.5 TAN - 8 PO grestore -} def - -/PV { -% pin or via, x, y and thickness are on the stack - /drillinghole exch def /thickness exch def /y exch def /x exch def - x y thickness P -% draw drilling hole - gsave White 0 setlinewidth - newpath x y drillinghole 2 div 0 360 arc closepath fill stroke - grestore -} def - -/PVR { -% pin or via, x, y and thickness are on the stack - /drillinghole exch def /thickness exch def /y exch def /x exch def - gsave 0 setlinewidth - newpath x y thickness 2 div 0 360 arc closepath fill stroke -% draw drilling whole - White - newpath x y drillinghole 2 div 0 360 arc closepath fill stroke - grestore -} def - -/PVSQ { -% square pin or via, x, y and thickness are on the stack - /drillinghole exch def /thickness exch def /y exch def /x exch def - newpath x thickness 2 div sub y thickness 2 div sub moveto - thickness 0 rlineto 0 thickness rlineto - thickness neg 0 rlineto closepath fill stroke -% draw drilling hole - gsave White 0 setlinewidth - newpath x y drillinghole 2 div 0 360 arc closepath fill stroke - grestore -} def - -/DH { -% drill helpher; x, y, hole, copper-thickness are on stack - /copper exch def /hole exch def /y exch def /x exch def - gsave copper setlinewidth - newpath x y hole copper add 2 div 0 360 arc closepath stroke - grestore -} def - -/L { -% line, get x1, y1, x2, y2 and thickness from stack - /thick exch def /y2 exch def /x2 exch def /y1 exch def /x1 exch def - gsave thick setlinewidth - x1 y1 moveto x2 y2 lineto stroke - grestore -} def - -/CL { -% line, get x1, y1, x2, 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delta-angle from stack - /delta exch def /start exch def /thickness exch def - /height exch def /width exch def /y exch def /x exch def -% draw it - gsave White thickness setlinewidth /save DictMatrix currentmatrix def -% scaling is less then zero because the coord system has to be swapped - x y translate width neg height scale - 0 0 1 start start delta add arc save setmatrix stroke - grestore -} def - -/CLRPV { -% clears a pin/via for groundplane; x,y and thickness are on stack - /thickness exch def /y exch def /x exch def - gsave White x y thickness P grestore -} def - -/CLRPVSQ { -% clears a square pin, x,y and thickness are on stack - /thickness exch def /y exch def /x exch def - gsave White - newpath x thickness 2 div sub y thickness 2 div sub moveto - thickness 0 rlineto 0 thickness rlineto - thickness neg 0 rlineto closepath fill stroke - grestore -} def - -/CLRPVR { -% clears a round pin/via for groundplane; x,y and thickness are on the stack - /thickness exch def /y exch def 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remove --- -showpage -%%EOF diff --git a/doc/aic_frontmask.ps b/doc/aic_frontmask.ps deleted file mode 100644 index fa9aea2..0000000 --- a/doc/aic_frontmask.ps +++ /dev/null @@ -1,916 +0,0 @@ -%!PS-Adobe-3.0 -%%Title: (unknown), solder mask component side -%%Creator: pcb-bin 20060321 -%%CreationDate: Tue Nov 27 09:49:27 2007 -%%For: fetter (Walter Fetter Lages,,,) -%%LanguageLevel: 1 -%%Orientation: Portrait -%%Pages: 1 -%%PageOrder: Ascend -%%DocumentMedia: A4 594 841 -%%EndComments -%%BeginProlog - -/PcbDict 200 dict def -PcbDict begin -PcbDict /DictMatrix matrix put - -% some constants -/Black {0.0 mysetgray} def -/White {1.0 mysetgray} def -/TAN {0.207106781} def -/MTAN {-0.207106781} def - -% draw a filled polygon -% get (x,y)... and number of points from stack -/PO { - /number exch def - newpath - moveto - number 1 sub { lineto } repeat - closepath fill stroke -} def - -/P { -% draw a pin-polygon, -% get x, y and thickness from stack - /thickness exch def /y exch def /x exch def 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0x00000101) - Pin(4925 575 60 28 "A+" "2" 0x00000001) - Pin(5025 575 60 28 "K-" "3" 0x00000001) - Pin(5125 575 60 28 "NC" "4" 0x00000001) - Pin(5125 275 60 28 "Gnd" "5" 0x00000001) - Pin(5025 275 60 28 "Out" "6" 0x00000001) - Pin(4925 275 60 28 "En" "7" 0x00000001) - Pin(4825 275 60 28 "Vcc" "8" 0x00000001) - ElementLine (4775 625 5175 625 10) - ElementLine (5175 625 5175 225 10) - ElementLine (5175 225 4775 225 10) - ElementLine (4775 625 4775 475 10) - ElementLine (4775 375 4775 225 10) - ElementArc (4775 425 50 50 90 180 10) - Mark (4825 575) -) - -Element(0x00000000 "R 0.25W" "R2" "2k2" 4605 505 1 100 0x00000000) -( - Pin(4625 625 50 20 "1" "1" 0x00000101) - Pin(4625 225 50 20 "2" "2" 0x00000001) - ElementLine (4625 325 4625 225 20) - ElementLine (4625 625 4625 525 20) - ElementLine (4675 525 4575 525 20) - ElementLine (4675 325 4675 525 20) - ElementLine (4575 325 4675 325 20) - ElementLine (4575 525 4575 325 20) - Mark (4625 625) -) - -Element(0x00000000 "R 0.25W" "R6" "2k2" 4605 1105 1 100 0x00000000) -( - Pin(4625 1225 50 20 "1" "1" 0x00000101) - Pin(4625 825 50 20 "2" "2" 0x00000001) - ElementLine (4625 925 4625 825 20) - ElementLine (4625 1225 4625 1125 20) - ElementLine (4675 1125 4575 1125 20) - ElementLine (4675 925 4675 1125 20) - ElementLine (4575 925 4675 925 20) - ElementLine (4575 1125 4575 925 20) - Mark (4625 1225) -) - -Element(0x00000000 "R 0.25W" "R5" "390" 5305 1105 1 100 0x00000000) -( - Pin(5325 1225 50 20 "1" "1" 0x00000101) - Pin(5325 825 50 20 "2" "2" 0x00000001) - ElementLine (5325 925 5325 825 20) - ElementLine (5325 1225 5325 1125 20) - ElementLine (5375 1125 5275 1125 20) - ElementLine (5375 925 5375 1125 20) - ElementLine (5275 925 5375 925 20) - ElementLine (5275 1125 5275 925 20) - Mark (5325 1225) -) - -Element(0x00000000 "optical coupling device" "U14" "6N136" 4875 1005 0 100 0x00000000) -( - Pin(4825 1175 60 28 "NC" "1" 0x00000101) - Pin(4925 1175 60 28 "A+" "2" 0x00000001) - Pin(5025 1175 60 28 "K-" "3" 0x00000001) - Pin(5125 1175 60 28 "NC" "4" 0x00000001) - Pin(5125 875 60 28 "Gnd" "5" 0x00000001) - Pin(5025 875 60 28 "Out" "6" 0x00000001) - Pin(4925 875 60 28 "En" "7" 0x00000001) - Pin(4825 875 60 28 "Vcc" "8" 0x00000001) - ElementLine (4775 1225 5175 1225 10) - ElementLine (5175 1225 5175 825 10) - ElementLine (5175 825 4775 825 10) - ElementLine (4775 1225 4775 1075 10) - ElementLine (4775 975 4775 825 10) - ElementArc (4775 1025 50 50 90 180 10) - Mark (4825 1175) -) - -Element(0x00000000 "optical coupling device" "U13" "6N136" 3975 405 0 100 0x00000000) -( - Pin(3925 575 60 28 "NC" "1" 0x00000101) - Pin(4025 575 60 28 "A+" "2" 0x00000001) - Pin(4125 575 60 28 "K-" "3" 0x00000001) - Pin(4225 575 60 28 "NC" "4" 0x00000001) - Pin(4225 275 60 28 "Gnd" "5" 0x00000001) - Pin(4125 275 60 28 "Out" "6" 0x00000001) - Pin(4025 275 60 28 "En" "7" 0x00000001) - Pin(3925 275 60 28 "Vcc" "8" 0x00000001) - ElementLine (3875 625 4275 625 10) - ElementLine (4275 625 4275 225 10) - ElementLine (4275 225 3875 225 10) - ElementLine (3875 625 3875 475 10) - ElementLine (3875 375 3875 225 10) - ElementArc (3875 425 50 50 90 180 10) - Mark (3925 575) -) - -Element(0x00000000 "R 0.25W" "R4" "390" 5505 505 1 100 0x00000000) -( - Pin(5525 625 50 20 "1" "1" 0x00000101) - Pin(5525 225 50 20 "2" "2" 0x00000001) - ElementLine (5525 325 5525 225 20) - ElementLine (5525 625 5525 525 20) - ElementLine (5575 525 5475 525 20) - ElementLine (5575 325 5575 525 20) - ElementLine (5475 325 5575 325 20) - ElementLine (5475 525 5475 325 20) - Mark (5525 625) -) - -Element(0x00000000 "diode" "D1" "1N4148" 1575 3645 3 100 0x00000000) -( - Pin(1525 3425 50 20 "1" "1" 0x00000101) - Pin(1525 3725 50 20 "2" "2" 0x00000001) - ElementLine (1525 3425 1525 3525 10) - ElementLine (1525 3625 1525 3725 10) - ElementLine (1525 3525 1575 3625 10) - ElementLine (1575 3625 1475 3625 10) - ElementLine (1475 3625 1525 3525 10) - ElementLine (1575 3525 1475 3525 10) - Mark (1525 3425) -) - -Element(0x00000000 "LED 5mm" "D9" "Red" 475 2845 0 100 0x00000000) -( - Pin(525 2925 60 20 "-" "1" 0x00000101) - Pin(525 3025 60 20 "+" "2" 0x00000001) - ElementArc (525 2975 50 50 0 360 15) - ElementArc (525 2975 70 70 0 360 10) - Mark (525 2925) -) - -Element(0x00000000 "IRF1010N" "Q2" "IRF1010N" 5150 2260 0 100 0x00000000) -( - Pin(5250 2450 80 20 "G" "1" 0x00000101) - Pin(5350 2450 80 20 "D" "2" 0x00000001) - Pin(5450 2450 80 20 "S" "3" 0x00000001) - ElementLine (5420 2330 5420 2390 10) - ElementLine (5280 2330 5280 2390 10) - ElementLine (5150 2390 5150 2330 20) - ElementLine (5550 2390 5150 2390 20) - ElementLine (5550 2330 5550 2390 20) - ElementLine (5150 2330 5550 2330 20) - ElementLine (5150 2510 5150 2330 20) - ElementLine (5550 2510 5150 2510 20) - ElementLine (5550 2330 5550 2510 20) - ElementLine (5150 2330 5550 2330 20) - Mark (5250 2450) -) - -Element(0x00000000 "generic" "U7" "HCTL-2016" 2450 405 0 100 0x00000000) -( - Pin(2400 575 60 28 "1" "1" 0x00000101) - Pin(2500 575 60 28 "2" "2" 0x00000001) - Pin(2600 575 60 28 "3" "3" 0x00000001) - Pin(2700 575 60 28 "4" "4" 0x00000001) - Pin(2800 575 60 28 "5" "5" 0x00000001) - Pin(2900 575 60 28 "6" "6" 0x00000001) - Pin(3000 575 60 28 "7" "7" 0x00000001) - Pin(3100 575 60 28 "8" "8" 0x00000001) - Pin(3100 275 60 28 "9" "9" 0x00000001) - Pin(3000 275 60 28 "10" "10" 0x00000001) - Pin(2900 275 60 28 "11" "11" 0x00000001) - Pin(2800 275 60 28 "12" "12" 0x00000001) - Pin(2700 275 60 28 "13" "13" 0x00000001) - Pin(2600 275 60 28 "14" "14" 0x00000001) - Pin(2500 275 60 28 "15" "15" 0x00000001) - Pin(2400 275 60 28 "16" "16" 0x00000001) - ElementLine (2350 625 3150 625 10) - ElementLine (3150 625 3150 225 10) - ElementLine (3150 225 2350 225 10) - ElementLine (2350 625 2350 475 10) - ElementLine (2350 375 2350 225 10) - ElementArc (2350 425 50 50 90 180 10) - Mark (2400 575) -) - -Element(0x00000000 "capacitor_radial" "C4" "10uFx25V" 3275 3625 0 100 0x00000000) -( - Pin(3125 3725 60 20 "1" "1" 0x00000101) - Pin(3225 3725 60 20 "2" "2" 0x00000001) - ElementArc (3175 3725 100 100 0 360 10) - Mark (3125 3725) -) - -Element(0x00000000 "connector 2x4 pins" "JP1" "ADDRESS" 4360 2000 3 100 0x00000000) -( - Pin(4150 2050 60 30 "1" "1" 0x00000101) - Pin(4250 2050 60 30 "2" "2" 0x00000001) - Pin(4150 2150 60 30 "3" "3" 0x00000001) - Pin(4250 2150 60 30 "4" "4" 0x00000001) - Pin(4150 2250 60 30 "5" "5" 0x00000001) - Pin(4250 2250 60 30 "6" "6" 0x00000001) - Pin(4150 2350 60 30 "7" "7" 0x00000001) - Pin(4250 2350 60 30 "8" "8" 0x00000001) - ElementLine (4200 2100 4200 2000 10) - ElementLine (4100 2100 4200 2100 10) - ElementLine (4300 2000 4100 2000 20) - ElementLine (4300 2400 4300 2000 20) - ElementLine (4100 2400 4300 2400 20) - ElementLine (4100 2000 4100 2400 20) - Mark (4150 2050) -) - -Element(0x00000000 "generic" "U6" "8254" 1400 2330 0 100 0x00000000) -( - Pin(1350 2650 60 28 "1" "1" 0x00000101) - Pin(1450 2650 60 28 "2" "2" 0x00000001) - Pin(1550 2650 60 28 "3" "3" 0x00000001) - Pin(1650 2650 60 28 "4" "4" 0x00000001) - Pin(1750 2650 60 28 "5" "5" 0x00000001) - Pin(1850 2650 60 28 "6" "6" 0x00000001) - Pin(1950 2650 60 28 "7" "7" 0x00000001) - Pin(2050 2650 60 28 "8" "8" 0x00000001) - Pin(2150 2650 60 28 "9" "9" 0x00000001) - Pin(2250 2650 60 28 "10" "10" 0x00000001) - Pin(2350 2650 60 28 "11" "11" 0x00000001) - Pin(2450 2650 60 28 "12" "12" 0x00000001) - Pin(2450 2050 60 28 "13" "13" 0x00000001) - Pin(2350 2050 60 28 "14" "14" 0x00000001) - Pin(2250 2050 60 28 "15" "15" 0x00000001) - Pin(2150 2050 60 28 "16" "16" 0x00000001) - Pin(2050 2050 60 28 "17" "17" 0x00000001) - Pin(1950 2050 60 28 "18" "18" 0x00000001) - Pin(1850 2050 60 28 "19" "19" 0x00000001) - Pin(1750 2050 60 28 "20" "20" 0x00000001) - Pin(1650 2050 60 28 "21" "21" 0x00000001) - Pin(1550 2050 60 28 "22" "22" 0x00000001) - Pin(1450 2050 60 28 "23" "23" 0x00000001) - Pin(1350 2050 60 28 "24" "24" 0x00000001) - ElementLine (1300 2700 2500 2700 10) - ElementLine (2500 2700 2500 2000 10) - ElementLine (2500 2000 1300 2000 10) - ElementLine (1300 2700 1300 2400 10) - ElementLine (1300 2300 1300 2000 10) - ElementArc (1300 2350 50 50 90 180 10) - Mark (1350 2650) -) - -Element(0x00000000 "generic PAL replacement" "U8" "GAL22V10" 2800 2180 0 100 0x00000000) -( - Pin(2750 2350 60 28 "CLK/I1" "1" 0x00000101) - Pin(2850 2350 60 28 "I2" "2" 0x00000001) - Pin(2950 2350 60 28 "I3" "3" 0x00000001) - Pin(3050 2350 60 28 "I4" "4" 0x00000001) - Pin(3150 2350 60 28 "I5" "5" 0x00000001) - Pin(3250 2350 60 28 "I6" "6" 0x00000001) - Pin(3350 2350 60 28 "I7" "7" 0x00000001) - Pin(3450 2350 60 28 "I8" "8" 0x00000001) - Pin(3550 2350 60 28 "I9" "9" 0x00000001) - Pin(3650 2350 60 28 "I10" "10" 0x00000001) - Pin(3750 2350 60 28 "I11" "11" 0x00000001) - Pin(3850 2350 60 28 "Gnd" "12" 0x00000001) - Pin(3850 2050 60 28 "I12" "13" 0x00000001) - Pin(3750 2050 60 28 "I/O/Qj" "14" 0x00000001) - Pin(3650 2050 60 28 "I/O/Qi" "15" 0x00000001) - Pin(3550 2050 60 28 "I/O/Qh" "16" 0x00000001) - Pin(3450 2050 60 28 "I/O/Qg" "17" 0x00000001) - Pin(3350 2050 60 28 "I/O/Qf" "18" 0x00000001) - Pin(3250 2050 60 28 "I/O/Qe" "19" 0x00000001) - Pin(3150 2050 60 28 "I/O/Qd" "20" 0x00000001) - Pin(3050 2050 60 28 "I/O/Qc" "21" 0x00000001) - Pin(2950 2050 60 28 "I/O/Qb" "22" 0x00000001) - Pin(2850 2050 60 28 "I/O/Qa" "23" 0x00000001) - Pin(2750 2050 60 28 "Vcc" "24" 0x00000001) - ElementLine (2700 2400 3900 2400 10) - ElementLine (3900 2400 3900 2000 10) - ElementLine (3900 2000 2700 2000 10) - ElementLine (2700 2400 2700 2250 10) - ElementLine (2700 2150 2700 2000 10) - ElementArc (2700 2200 50 50 90 180 10) - Mark (2750 2350) -) - -Element(0x00000000 "LED 5mm" "D10" "Green" 475 2570 0 100 0x00000000) -( - Pin(525 2650 60 20 "-" "1" 0x00000101) - Pin(525 2750 60 20 "+" "2" 0x00000001) - ElementArc (525 2700 70 70 0 360 10) - ElementArc (525 2700 50 50 0 360 15) - Mark (525 2650) -) - -Element(0x00000000 "Push-button, tactile, right angle, 466mils actuator" "S1" "MJTP1236_D" 598 3389 0 100 0x00000000) -( - Pin(500 3300 59 39 "1" "1" 0x00000101) - Pin(500 3477 59 39 "2" "2" 0x00000001) - Pin(598 3251 71 51 "C1" "C1" 0x00000001) - Pin(598 3527 71 51 "C2" "C2" 0x00000001) - ElementLine (658 3251 400 3251 20) - ElementLine (400 3251 400 3527 20) - ElementLine (400 3527 658 3527 20) - ElementLine (538 3527 538 3251 20) - ElementLine (400 3320 34 3330 20) - ElementLine (34 3330 34 3448 20) - ElementLine (34 3448 400 3458 20) - Mark (500 3300) -) - -Element(0x00000000 "capacitor_radial" "C7" "1000uFx35V" 4525 2450 2 100 0x00000000) -( - Pin(4900 2200 60 20 "1" "1" 0x00000101) - Pin(4650 2200 60 20 "2" "2" 0x00000001) - ElementArc (4775 2200 250 250 180 360 10) - Mark (4900 2200) -) - -Element(0x00000000 "diode" "D3" "1N4007" 850 3520 3 100 0x00000000) -( - Pin(800 3300 50 20 "1" "1" 0x00000101) - Pin(800 3600 50 20 "2" "2" 0x00000001) - ElementLine (850 3400 750 3400 10) - ElementLine (750 3500 800 3400 10) - ElementLine (850 3500 750 3500 10) - ElementLine (800 3400 850 3500 10) - ElementLine (800 3500 800 3600 10) - ElementLine (800 3300 800 3400 10) - Mark (800 3300) -) - -Element(0x00000000 "IRF1010N" "Q1" "IRF1010N" 5675 2260 0 100 0x00000000) -( - Pin(5775 2450 80 20 "G" "1" 0x00000101) - Pin(5875 2450 80 20 "D" "2" 0x00000001) - Pin(5975 2450 80 20 "S" "3" 0x00000001) - ElementLine (5945 2330 5945 2390 10) - ElementLine (5805 2330 5805 2390 10) - ElementLine (5675 2390 5675 2330 20) - ElementLine (6075 2390 5675 2390 20) - ElementLine (6075 2330 6075 2390 20) - ElementLine (5675 2330 6075 2330 20) - ElementLine (5675 2510 5675 2330 20) - ElementLine (6075 2510 5675 2510 20) - ElementLine (6075 2330 6075 2510 20) - ElementLine (5675 2330 6075 2330 20) - Mark (5775 2450) -) - -Element(0x00000000 "capacitor_radial" "C11" "2.2nF" 5450 2000 0 100 0x00000000) -( - Pin(5300 2100 60 20 "1" "1" 0x00000101) - Pin(5400 2100 60 20 "2" "2" 0x00000001) - ElementArc (5350 2100 100 100 0 360 10) - Mark (5300 2100) -) - -Element(0x00000000 "DIN 41612C-96 male" "J15" "DIN41612C96_male" 6575 3455 1 200 0x00000000) -( - Pin(6475 475 60 30 "a1" "A1" 0x00000101) - Pin(6475 575 60 30 "a2" "A2" 0x00000001) - Pin(6475 675 60 30 "a3" "A3" 0x00000001) - Pin(6475 775 60 30 "a4" "A4" 0x00000001) - Pin(6475 875 60 30 "a5" "A5" 0x00000001) - Pin(6475 975 60 30 "a6" "A6" 0x00000001) - Pin(6475 1075 60 30 "a7" "A7" 0x00000001) - Pin(6475 1175 60 30 "a8" "A8" 0x00000001) - Pin(6475 1275 60 30 "a9" "A9" 0x00000001) - Pin(6475 1375 60 30 "a10" "A10" 0x00000001) - Pin(6475 1475 60 30 "a11" "A11" 0x00000001) - Pin(6475 1575 60 30 "a12" "A12" 0x00000001) - Pin(6475 1675 60 30 "a13" "A13" 0x00000001) - Pin(6475 1775 60 30 "a14" "A14" 0x00000001) - Pin(6475 1875 60 30 "a15" "A15" 0x00000001) - Pin(6475 1975 60 30 "a16" "A16" 0x00000001) - Pin(6475 2075 60 30 "a17" "A17" 0x00000001) - Pin(6475 2175 60 30 "a18" "A18" 0x00000001) - Pin(6475 2275 60 30 "a19" "A19" 0x00000001) - Pin(6475 2375 60 30 "a20" "A20" 0x00000001) - Pin(6475 2475 60 30 "a21" "A21" 0x00000001) - Pin(6475 2575 60 30 "a22" "A22" 0x00000001) - Pin(6475 2675 60 30 "a23" "A23" 0x00000001) - Pin(6475 2775 60 30 "a24" "A24" 0x00000001) - Pin(6475 2875 60 30 "a25" "A25" 0x00000001) - Pin(6475 2975 60 30 "a26" "A26" 0x00000001) - Pin(6475 3075 60 30 "a27" "A27" 0x00000001) - Pin(6475 3175 60 30 "a28" "A28" 0x00000001) - Pin(6475 3275 60 30 "a29" "A29" 0x00000001) - Pin(6475 3375 60 30 "a30" "A30" 0x00000001) - Pin(6475 3475 60 30 "a31" "A31" 0x00000001) - Pin(6475 3575 60 30 "a32" "A32" 0x00000001) - Pin(6375 475 60 30 "b1" "B1" 0x00000001) - Pin(6375 575 60 30 "b2" "B2" 0x00000001) - Pin(6375 675 60 30 "b3" "B3" 0x00000001) - Pin(6375 775 60 30 "b4" "B4" 0x00000001) - Pin(6375 875 60 30 "b5" "B5" 0x00000001) - Pin(6375 975 60 30 "b6" "B6" 0x00000001) - Pin(6375 1075 60 30 "b7" "B7" 0x00000001) - Pin(6375 1175 60 30 "b8" "B8" 0x00000001) - Pin(6375 1275 60 30 "b9" "B9" 0x00000001) - Pin(6375 1375 60 30 "b10" "B10" 0x00000001) - Pin(6375 1475 60 30 "b11" "B11" 0x00000001) - Pin(6375 1575 60 30 "b12" "B12" 0x00000001) - Pin(6375 1675 60 30 "b13" "B13" 0x00000001) - Pin(6375 1775 60 30 "b14" "B14" 0x00000001) - Pin(6375 1875 60 30 "b15" "B15" 0x00000001) - Pin(6375 1975 60 30 "b16" "B16" 0x00000001) - Pin(6375 2075 60 30 "b17" "B17" 0x00000001) - Pin(6375 2175 60 30 "b18" "B18" 0x00000001) - Pin(6375 2275 60 30 "b19" "B19" 0x00000001) - Pin(6375 2375 60 30 "b20" "B20" 0x00000001) - Pin(6375 2475 60 30 "b21" "B21" 0x00000001) - Pin(6375 2575 60 30 "b22" "B22" 0x00000001) - Pin(6375 2675 60 30 "b23" "B23" 0x00000001) - Pin(6375 2775 60 30 "b24" "B24" 0x00000001) - Pin(6375 2875 60 30 "b25" "B25" 0x00000001) - Pin(6375 2975 60 30 "b26" "B26" 0x00000001) - Pin(6375 3075 60 30 "b27" "B27" 0x00000001) - Pin(6375 3175 60 30 "b28" "B28" 0x00000001) - Pin(6375 3275 60 30 "b29" "B29" 0x00000001) - Pin(6375 3375 60 30 "b30" "B30" 0x00000001) - Pin(6375 3475 60 30 "b31" "B31" 0x00000001) - Pin(6375 3575 60 30 "b32" "B32" 0x00000001) - Pin(6275 475 60 30 "c1" "C1" 0x00000001) - Pin(6275 575 60 30 "c2" "C2" 0x00000001) - Pin(6275 675 60 30 "c3" "C3" 0x00000001) - Pin(6275 775 60 30 "c4" "C4" 0x00000001) - Pin(6275 875 60 30 "c5" "C5" 0x00000001) - Pin(6275 975 60 30 "c6" "C6" 0x00000001) - Pin(6275 1075 60 30 "c7" "C7" 0x00000001) - Pin(6275 1175 60 30 "c8" "C8" 0x00000001) - Pin(6275 1275 60 30 "c9" "C9" 0x00000001) - Pin(6275 1375 60 30 "c10" "C10" 0x00000001) - Pin(6275 1475 60 30 "c11" "C11" 0x00000001) - Pin(6275 1575 60 30 "c12" "C12" 0x00000001) - Pin(6275 1675 60 30 "c13" "C13" 0x00000001) - Pin(6275 1775 60 30 "c14" "C14" 0x00000001) - Pin(6275 1875 60 30 "c15" "C15" 0x00000001) - Pin(6275 1975 60 30 "c16" "C16" 0x00000001) - Pin(6275 2075 60 30 "c17" "C17" 0x00000001) - Pin(6275 2175 60 30 "c18" "C18" 0x00000001) - Pin(6275 2275 60 30 "c19" "C19" 0x00000001) - Pin(6275 2375 60 30 "c20" "C20" 0x00000001) - Pin(6275 2475 60 30 "c21" "C21" 0x00000001) - Pin(6275 2575 60 30 "c22" "C22" 0x00000001) - Pin(6275 2675 60 30 "c23" "C23" 0x00000001) - Pin(6275 2775 60 30 "c24" "C24" 0x00000001) - Pin(6275 2875 60 30 "c25" "C25" 0x00000001) - Pin(6275 2975 60 30 "c26" "C26" 0x00000001) - Pin(6275 3075 60 30 "c27" "C27" 0x00000001) - Pin(6275 3175 60 30 "c28" "C28" 0x00000001) - Pin(6275 3275 60 30 "c29" "C29" 0x00000001) - Pin(6275 3375 60 30 "c30" "C30" 0x00000001) - Pin(6275 3475 60 30 "c31" "C31" 0x00000001) - Pin(6275 3575 60 30 "c32" "C32" 0x00000001) - Pin(6575 3775 120 80 "M1" "M1" 0x00000001) - Pin(6575 275 120 80 "M2" "M2" 0x00000001) - ElementLine (6275 3575 6550 3575 40) - ElementLine (6275 3475 6550 3475 40) - ElementLine (6275 3375 6550 3375 40) - ElementLine (6275 3275 6550 3275 40) - ElementLine (6275 3175 6550 3175 40) - ElementLine (6275 3075 6550 3075 40) - ElementLine (6275 2975 6550 2975 40) - ElementLine (6275 2875 6550 2875 40) - ElementLine (6275 2775 6550 2775 40) - ElementLine (6275 2675 6550 2675 40) - ElementLine (6275 2575 6550 2575 40) - ElementLine (6275 2475 6550 2475 40) - ElementLine (6275 2375 6550 2375 40) - ElementLine (6275 2275 6550 2275 40) - ElementLine (6275 2175 6550 2175 40) - ElementLine (6275 2075 6550 2075 40) - ElementLine (6275 1975 6550 1975 40) - ElementLine (6275 1875 6550 1875 40) - ElementLine (6275 1775 6550 1775 40) - ElementLine (6275 1675 6550 1675 40) - ElementLine (6275 1575 6550 1575 40) - ElementLine (6275 1475 6550 1475 40) - ElementLine (6275 1375 6550 1375 40) - ElementLine (6275 1275 6550 1275 40) - ElementLine (6275 1175 6550 1175 40) - ElementLine (6275 1075 6550 1075 40) - ElementLine (6275 975 6550 975 40) - ElementLine (6275 875 6550 875 40) - ElementLine (6275 775 6550 775 40) - ElementLine (6275 675 6550 675 40) - ElementLine (6275 575 6550 575 40) - ElementLine (6275 475 6550 475 40) - ElementLine (6475 3875 6475 3655 20) - ElementLine (6475 3655 6570 3655 20) - ElementLine (6570 3655 6795 3655 10) - ElementLine (6795 3655 6795 3775 10) - ElementLine (6795 3775 6795 3875 20) - ElementLine (6795 3875 6475 3875 20) - ElementLine (6475 395 6475 175 20) - ElementLine (6475 175 6795 175 20) - ElementLine (6795 175 6795 275 20) - ElementLine (6795 275 6795 395 10) - ElementLine (6795 395 6570 395 10) - ElementLine (6570 395 6475 395 20) - ElementLine (6570 3655 6570 395 20) - ElementLine (6795 3775 6975 3775 20) - ElementLine (6975 3775 6975 275 20) - ElementLine (6975 275 6795 275 20) - Mark (6475 475) -) - -Element(0x00000000 "connector 2x1 pins" "JP2" "XRESET" 1210 3250 3 100 0x00000000) -( - Pin(1000 3300 60 30 "1" "1" 0x00000101) - Pin(1100 3300 60 30 "2" "2" 0x00000001) - ElementLine (950 3250 950 3350 20) - ElementLine (950 3350 1150 3350 20) - ElementLine (1150 3350 1150 3250 20) - ElementLine (1150 3250 950 3250 20) - ElementLine (950 3350 1050 3350 10) - ElementLine (1050 3350 1050 3250 10) - Mark (1000 3300) -) - -Element(0x00000000 "generic" "U11" "10MHz" 1725 3030 0 100 0x00000000) -( - Pin(1675 3200 60 28 "1" "1" 0x00000101) - Pin(1775 3200 60 28 "2" "2" 0x00000001) - Pin(1875 3200 60 28 "3" "3" 0x00000001) - Pin(1975 3200 60 28 "4" "4" 0x00000001) - Pin(1975 2900 60 28 "5" "5" 0x00000001) - Pin(1875 2900 60 28 "6" "6" 0x00000001) - Pin(1775 2900 60 28 "7" "7" 0x00000001) - Pin(1675 2900 60 28 "8" "8" 0x00000001) - ElementLine (1625 3250 2025 3250 10) - ElementLine (2025 3250 2025 2850 10) - ElementLine (2025 2850 1625 2850 10) - ElementLine (1625 3250 1625 3100 10) - ElementLine (1625 3000 1625 2850 10) - ElementArc (1625 3050 50 50 90 180 10) - Mark (1675 3200) -) - -Element(0x00000000 "capacitor_radial" "C8" "1000uFx35V" 4525 3025 2 100 0x00000000) -( - Pin(4900 2775 60 20 "1" "1" 0x00000101) - Pin(4650 2775 60 20 "2" "2" 0x00000001) - ElementArc (4775 2775 250 250 180 360 10) - Mark (4900 2775) -) - -Element(0x00000000 "+12V 1.5A voltage regulator" "U3" "7812" 5750 3790 2 100 0x00000000) -( - Pin(5650 3600 80 20 "In" "1" 0x00000101) - Pin(5550 3600 80 20 "Com" "2" 0x00000001) - Pin(5450 3600 80 20 "Out" "3" 0x00000001) - ElementLine (5750 3720 5350 3720 20) - ElementLine (5350 3720 5350 3540 20) - ElementLine (5350 3540 5750 3540 20) - ElementLine (5750 3540 5750 3720 20) - ElementLine (5750 3720 5350 3720 20) - ElementLine (5350 3720 5350 3660 20) - ElementLine (5350 3660 5750 3660 20) - ElementLine (5750 3660 5750 3720 20) - ElementLine (5620 3720 5620 3660 10) - ElementLine (5480 3720 5480 3660 10) - Mark (5650 3600) -) - -Element(0x00000000 "R 0.25W" "R9" "10k" 2770 2695 3 100 0x00000000) -( - Pin(2750 2575 50 20 "1" "1" 0x00000101) - Pin(2750 2975 50 20 "2" "2" 0x00000001) - ElementLine (2750 2875 2750 2975 20) - ElementLine (2750 2575 2750 2675 20) - ElementLine (2700 2675 2800 2675 20) - ElementLine (2700 2875 2700 2675 20) - ElementLine (2800 2875 2700 2875 20) - ElementLine (2800 2675 2800 2875 20) - Mark (2750 2575) -) - -Element(0x00000000 "E22 standing" "" "E22" 5550 3525 2 100 0x00000000) -( - ElementLine (5325 3200 5325 3750 20) - ElementLine (5275 3200 5325 3200 20) - ElementLine (5275 3750 5275 3200 20) - ElementLine (5075 3750 5275 3750 20) - ElementLine (5075 3200 5075 3750 20) - ElementLine (5025 3200 5075 3200 20) - ElementLine (5025 3850 5025 3200 20) - ElementLine (5775 3750 5325 3750 20) - ElementLine (5775 3200 5775 3750 20) - ElementLine (5825 3200 5775 3200 20) - ElementLine (5825 3750 5825 3200 20) - ElementLine (6025 3750 5825 3750 20) - ElementLine (6025 3200 6025 3750 20) - ElementLine (6075 3200 6025 3200 20) - ElementLine (6075 3850 6075 3200 20) - ElementLine (6075 3850 5025 3850 20) - Mark (6075 3850) -) - -Element(0x00000000 "R 0.25W" "R11" "330" 980 2945 2 100 0x00000000) -( - Pin(1100 2925 50 20 "1" "1" 0x00000101) - Pin(700 2925 50 20 "2" "2" 0x00000001) - ElementLine (1000 2975 800 2975 20) - ElementLine (800 2975 800 2875 20) - ElementLine (800 2875 1000 2875 20) - ElementLine (1000 2875 1000 2975 20) - ElementLine (1100 2925 1000 2925 20) - ElementLine (800 2925 700 2925 20) - Mark (1100 2925) -) - -Element(0x00000000 "capacitor_radial" "C1" "100uFx25V" 4625 3850 2 100 0x00000000) -( - Pin(4850 3700 60 20 "1" "1" 0x00000101) - Pin(4700 3700 60 20 "2" "2" 0x00000001) - ElementArc (4775 3700 150 150 180 360 10) - Mark (4850 3700) -) - -Element(0x00000000 "IRF1010N" "Q4" "IRF1010N" 5150 2735 0 100 0x00000000) -( - Pin(5250 2925 80 20 "G" "1" 0x00000101) - Pin(5350 2925 80 20 "D" "2" 0x00000001) - Pin(5450 2925 80 20 "S" "3" 0x00000001) - ElementLine (5420 2805 5420 2865 10) - ElementLine (5280 2805 5280 2865 10) - ElementLine (5150 2865 5150 2805 20) - ElementLine (5550 2865 5150 2865 20) - ElementLine (5550 2805 5550 2865 20) - ElementLine (5150 2805 5550 2805 20) - ElementLine (5150 2985 5150 2805 20) - ElementLine (5550 2985 5150 2985 20) - ElementLine (5550 2805 5550 2985 20) - ElementLine (5150 2805 5550 2805 20) - Mark (5250 2925) -) - -Element(0x00000000 "SUB-D female 9 pins" "J9" "DB9_female" 500 1555 3 100 0x00000000) -( - Pin(850 1355 120 100 "C1" "C1" 0x00000001) - Pin(850 2295 120 100 "C1" "C1" 0x00000001) - Pin(900 1625 60 20 "5" "5" 0x00000001) - Pin(800 1675 60 20 "9" "9" 0x00000001) - Pin(900 1725 60 20 "4" "4" 0x00000001) - Pin(800 1775 60 20 "8" "8" 0x00000001) - Pin(900 1825 60 20 "3" "3" 0x00000001) - Pin(800 1875 60 20 "7" "7" 0x00000001) - Pin(900 1925 60 20 "2" "2" 0x00000001) - Pin(800 1975 60 20 "6" "6" 0x00000001) - Pin(900 2025 60 20 "1" "1" 0x00000101) - ElementLine (390 1235 420 1235 10) - ElementLine (420 1235 420 2415 10) - ElementLine (420 2415 390 2415 10) - ElementLine (390 2415 390 1235 10) - ElementLine (390 1295 420 1295 10) - ElementLine (390 1415 420 1415 10) - ElementLine (390 2355 420 2355 10) - ElementLine (390 2235 420 2235 10) - ElementLine (120 1525 390 1525 20) - ElementLine (390 1525 390 2125 10) - ElementLine (390 2125 120 2125 20) - ElementLine (120 2125 120 1525 20) - ElementLine (420 1465 620 1465 20) - ElementLine (620 1465 620 2185 20) - ElementLine (620 2185 420 2185 20) - ElementLine (420 2185 420 1465 10) - ElementLine (900 1625 620 1625 20) - ElementLine (800 1675 620 1675 20) - ElementLine (900 1725 620 1725 20) - ElementLine (800 1775 620 1775 20) - ElementLine (900 1825 620 1825 20) - ElementLine (800 1875 620 1875 20) - ElementLine (900 1925 620 1925 20) - ElementLine (800 1975 620 1975 20) - ElementLine (900 2025 620 2025 20) - Mark (900 1625) -) - -Element(0x00000000 "capacitor_radial" "C9" "220nF" 3125 2700 2 100 0x00000000) -( - Pin(3275 2600 60 20 "1" "1" 0x00000101) - Pin(3175 2600 60 20 "2" "2" 0x00000001) - ElementArc (3225 2600 100 100 180 360 10) - Mark (3275 2600) -) - -Element(0x00000000 "R 0.25W" "R3" "2k2" 4405 505 1 100 0x00000000) -( - Pin(4425 625 50 20 "1" "1" 0x00000101) - Pin(4425 225 50 20 "2" "2" 0x00000001) - ElementLine (4425 325 4425 225 20) - ElementLine (4425 625 4425 525 20) - ElementLine (4475 525 4375 525 20) - ElementLine (4475 325 4475 525 20) - ElementLine (4375 325 4475 325 20) - ElementLine (4375 525 4375 325 20) - Mark (4425 625) -) - -Element(0x00000000 "R 0.25W" "R10" "1k5" 2930 2855 1 100 0x00000000) -( - Pin(2950 2975 50 20 "1" "1" 0x00000101) - Pin(2950 2575 50 20 "2" "2" 0x00000001) - ElementLine (2950 2675 2950 2575 20) - ElementLine (2950 2975 2950 2875 20) - ElementLine (3000 2875 2900 2875 20) - ElementLine (3000 2675 3000 2875 20) - ElementLine (2900 2675 3000 2675 20) - ElementLine (2900 2875 2900 2675 20) - Mark (2950 2975) -) - -Element(0x00000000 "capacitor_radial" "C2" "100uFx16V" 4925 3150 0 100 0x00000000) -( - Pin(4700 3300 60 20 "1" "1" 0x00000101) - Pin(4850 3300 60 20 "2" "2" 0x00000001) - ElementArc (4775 3300 150 150 0 360 10) - Mark (4700 3300) -) - -Element(0x00000000 "E22 standing" "" "E22" 4000 3525 2 100 0x00000000) -( - ElementLine (3775 3200 3775 3750 20) - ElementLine (3725 3200 3775 3200 20) - ElementLine (3725 3750 3725 3200 20) - ElementLine (3525 3750 3725 3750 20) - ElementLine (3525 3200 3525 3750 20) - ElementLine (3475 3200 3525 3200 20) - ElementLine (3475 3850 3475 3200 20) - ElementLine (4225 3750 3775 3750 20) - ElementLine (4225 3200 4225 3750 20) - ElementLine (4275 3200 4225 3200 20) - ElementLine (4275 3750 4275 3200 20) - ElementLine (4475 3750 4275 3750 20) - ElementLine (4475 3200 4475 3750 20) - ElementLine (4525 3200 4475 3200 20) - ElementLine (4525 3850 4525 3200 20) - ElementLine (4525 3850 3475 3850 20) - Mark (4525 3850) -) - -Element(0x00000000 "R 0.25W" "R12" "1k2" 980 2770 2 100 0x00000000) -( - Pin(1100 2750 50 20 "1" "1" 0x00000101) - Pin(700 2750 50 20 "2" "2" 0x00000001) - ElementLine (800 2750 700 2750 20) - ElementLine (1100 2750 1000 2750 20) - ElementLine (1000 2700 1000 2800 20) - ElementLine (800 2700 1000 2700 20) - ElementLine (800 2800 800 2700 20) - ElementLine (1000 2800 800 2800 20) - Mark (1100 2750) -) - -Element(0x00000000 "IRF1010N" "Q3" "IRF1010N" 5675 2735 0 100 0x00000000) -( - Pin(5775 2925 80 20 "G" "1" 0x00000101) - Pin(5875 2925 80 20 "D" "2" 0x00000001) - Pin(5975 2925 80 20 "S" "3" 0x00000001) - ElementLine (5945 2805 5945 2865 10) - ElementLine (5805 2805 5805 2865 10) - ElementLine (5675 2865 5675 2805 20) - ElementLine (6075 2865 5675 2865 20) - ElementLine (6075 2805 6075 2865 20) - ElementLine (5675 2805 6075 2805 20) - ElementLine (5675 2985 5675 2805 20) - ElementLine (6075 2985 5675 2985 20) - ElementLine (6075 2805 6075 2985 20) - ElementLine (5675 2805 6075 2805 20) - Mark (5775 2925) -) - -Element(0x00000000 "diode" "D7" "1N4007" 5795 1825 0 100 0x00000000) -( - Pin(5575 1875 50 20 "1" "1" 0x00000101) - Pin(5875 1875 50 20 "2" "2" 0x00000001) - ElementLine (5675 1825 5675 1925 10) - ElementLine (5775 1925 5675 1875 10) - ElementLine (5775 1825 5775 1925 10) - ElementLine (5675 1875 5775 1825 10) - ElementLine (5775 1875 5875 1875 10) - ElementLine (5575 1875 5675 1875 10) - Mark (5575 1875) -) - -Element(0x00000000 "optical coupling device" "U5" "6N136" 5775 1005 0 100 0x00000000) -( - Pin(5725 1175 60 28 "NC" "1" 0x00000101) - Pin(5825 1175 60 28 "A+" "2" 0x00000001) - Pin(5925 1175 60 28 "K-" "3" 0x00000001) - Pin(6025 1175 60 28 "NC" "4" 0x00000001) - Pin(6025 875 60 28 "Gnd" "5" 0x00000001) - Pin(5925 875 60 28 "Out" "6" 0x00000001) - Pin(5825 875 60 28 "En" "7" 0x00000001) - Pin(5725 875 60 28 "Vcc" "8" 0x00000001) - ElementLine (5675 1225 6075 1225 10) - ElementLine (6075 1225 6075 825 10) - ElementLine (6075 825 5675 825 10) - ElementLine (5675 1225 5675 1075 10) - ElementLine (5675 975 5675 825 10) - ElementArc (5675 1025 50 50 90 180 10) - Mark (5725 1175) -) - -Element(0x00000000 "IRLZ24N" "Q5" "IRLZ24N" 5675 1910 0 100 0x00000000) -( - Pin(5775 2100 80 20 "G" "1" 0x00000101) - Pin(5875 2100 80 20 "D" "2" 0x00000001) - Pin(5975 2100 80 20 "S" "3" 0x00000001) - ElementLine (5945 1980 5945 2040 10) - ElementLine (5805 1980 5805 2040 10) - ElementLine (5675 2040 5675 1980 20) - ElementLine (6075 2040 5675 2040 20) - ElementLine (6075 1980 6075 2040 20) - ElementLine (5675 1980 6075 1980 20) - ElementLine (5675 2160 5675 1980 20) - ElementLine (6075 2160 5675 2160 20) - ElementLine (6075 1980 6075 2160 20) - ElementLine (5675 1980 6075 1980 20) - Mark (5775 2100) -) - -Element(0x00000000 "optical coupling device" "U4" "6N136" 5775 405 0 100 0x00000000) -( - Pin(5725 575 60 28 "NC" "1" 0x00000101) - Pin(5825 575 60 28 "A+" "2" 0x00000001) - Pin(5925 575 60 28 "K-" "3" 0x00000001) - Pin(6025 575 60 28 "NC" "4" 0x00000001) - Pin(6025 275 60 28 "Gnd" "5" 0x00000001) - Pin(5925 275 60 28 "Out" "6" 0x00000001) - Pin(5825 275 60 28 "En" "7" 0x00000001) - Pin(5725 275 60 28 "Vcc" "8" 0x00000001) - ElementLine (5675 625 6075 625 10) - ElementLine (6075 625 6075 225 10) - ElementLine (6075 225 5675 225 10) - ElementLine (5675 625 5675 475 10) - ElementLine (5675 375 5675 225 10) - ElementArc (5675 425 50 50 90 180 10) - Mark (5725 575) -) - -Element(0x00000000 "capacitor_radial" "C10" "4.7uFx16V" 3325 2800 0 100 0x00000000) -( - Pin(3175 2900 60 20 "1" "1" 0x00000101) - Pin(3275 2900 60 20 "2" "2" 0x00000001) - ElementArc (3225 2900 100 100 0 360 10) - Mark (3175 2900) -) - -Element(0x00000000 "shielded" "J2" "RJ 45" 1250 1128 2 100 0x00000000) -( - Pin(1075 575 60 30 "1" "1" 0x00000101) - Pin(1175 625 60 30 "2" "2" 0x00000001) - Pin(1075 675 60 30 "3" "3" 0x00000001) - Pin(1175 725 60 30 "4" "4" 0x00000001) - Pin(1075 775 60 30 "5" "5" 0x00000001) - Pin(1175 825 60 30 "6" "6" 0x00000001) - Pin(1075 875 60 30 "7" "7" 0x00000001) - Pin(1175 925 60 30 "8" "8" 0x00000001) - Pin(825 525 148 128 "C1" "9" 0x00000001) - Pin(825 976 148 128 "C1" "10" 0x00000001) - Pin(945 445 82 62 "C1" "11" 0x00000001) - Pin(945 1056 82 62 "C1" "12" 0x00000001) - ElementLine (1250 1068 1250 433 20) - ElementLine (400 1068 1250 1068 20) - ElementLine (400 433 400 1068 20) - ElementLine (1250 433 400 433 20) - Mark (1075 575) -) - -Element(0x00000000 "generic" "U10" "MAX4429" 3600 2730 0 100 0x00000000) -( - Pin(3550 2900 60 28 "1" "1" 0x00000101) - Pin(3650 2900 60 28 "2" "2" 0x00000001) - Pin(3750 2900 60 28 "3" "3" 0x00000001) - Pin(3850 2900 60 28 "4" "4" 0x00000001) - Pin(3850 2600 60 28 "5" "5" 0x00000001) - Pin(3750 2600 60 28 "6" "6" 0x00000001) - Pin(3650 2600 60 28 "7" "7" 0x00000001) - Pin(3550 2600 60 28 "8" "8" 0x00000001) - ElementLine (3500 2950 3900 2950 10) - ElementLine (3900 2950 3900 2550 10) - ElementLine (3900 2550 3500 2550 10) - ElementLine (3500 2950 3500 2800 10) - ElementLine (3500 2700 3500 2550 10) - ElementArc (3500 2750 50 50 90 180 10) - Mark (3550 2900) -) - -Element(0x00000000 "capacitor_radial" "C6" "1uFx25V" 3275 3325 0 100 0x00000000) -( - Pin(3125 3425 60 20 "1" "1" 0x00000101) - Pin(3225 3425 60 20 "2" "2" 0x00000001) - ElementArc (3175 3425 100 100 0 360 10) - Mark (3125 3425) -) - -Element(0x00000000 "capacitor_radial" "C5" "1uFx25V" 1175 3525 2 100 0x00000000) -( - Pin(1325 3425 60 20 "1" "1" 0x00000101) - Pin(1225 3425 60 20 "2" "2" 0x00000001) - ElementArc (1275 3425 100 100 180 360 10) - Mark (1325 3425) -) - -Element(0x00000000 "vertical, 95 mils center pole" "U1" "TINIm#90-RevD" 5750 1760 2 100 0x00000000) -( - Pin(5350 1625 60 30 "1" "1" 0x00000101) - Pin(5300 1525 60 30 "2" "2" 0x00000001) - Pin(5250 1625 60 30 "3" "3" 0x00000001) - Pin(5200 1525 60 30 "4" "4" 0x00000001) - Pin(5150 1625 60 30 "5" "5" 0x00000001) - Pin(5100 1525 60 30 "6" "6" 0x00000001) - Pin(5050 1625 60 30 "7" "7" 0x00000001) - Pin(5000 1525 60 30 "8" "8" 0x00000001) - Pin(4950 1625 60 30 "9" "9" 0x00000001) - Pin(4900 1525 60 30 "10" "10" 0x00000001) - Pin(4850 1625 60 30 "11" "11" 0x00000001) - Pin(4800 1525 60 30 "12" "12" 0x00000001) - Pin(4750 1625 60 30 "13" "13" 0x00000001) - Pin(4700 1525 60 30 "14" "14" 0x00000001) - Pin(4650 1625 60 30 "15" "15" 0x00000001) - Pin(4600 1525 60 30 "16" "16" 0x00000001) - Pin(4550 1625 60 30 "17" "17" 0x00000001) - Pin(4500 1525 60 30 "18" "18" 0x00000001) - Pin(4450 1625 60 30 "19" "19" 0x00000001) - Pin(4400 1525 60 30 "20" "20" 0x00000001) - Pin(4350 1625 60 30 "21" "21" 0x00000001) - Pin(4300 1525 60 30 "22" "22" 0x00000001) - Pin(4250 1625 60 30 "23" "23" 0x00000001) - Pin(4200 1525 60 30 "24" "24" 0x00000001) - Pin(4150 1625 60 30 "25" "25" 0x00000001) - Pin(4100 1525 60 30 "26" "26" 0x00000001) - Pin(4050 1625 60 30 "27" "27" 0x00000001) - Pin(4000 1525 60 30 "28" "28" 0x00000001) - Pin(3950 1625 60 30 "29" "29" 0x00000001) - Pin(3900 1525 60 30 "30" "30" 0x00000001) - Pin(3850 1625 60 30 "31" "31" 0x00000001) - Pin(3800 1525 60 30 "32" "32" 0x00000001) - Pin(3750 1625 60 30 "33" "33" 0x00000001) - Pin(3700 1525 60 30 "34" "34" 0x00000001) - Pin(3650 1625 60 30 "35" "35" 0x00000001) - Pin(3600 1525 60 30 "36" "36" 0x00000001) - Pin(3350 1625 60 30 "37" "37" 0x00000001) - Pin(3300 1525 60 30 "38" "38" 0x00000001) - Pin(3250 1625 60 30 "39" "39" 0x00000001) - Pin(3200 1525 60 30 "40" "40" 0x00000001) - Pin(3150 1625 60 30 "41" "41" 0x00000001) - Pin(3100 1525 60 30 "42" "42" 0x00000001) - Pin(3050 1625 60 30 "43" "43" 0x00000001) - Pin(3000 1525 60 30 "44" "44" 0x00000001) - Pin(2950 1625 60 30 "45" "45" 0x00000001) - Pin(2900 1525 60 30 "46" "46" 0x00000001) - Pin(2850 1625 60 30 "47" "47" 0x00000001) - Pin(2800 1525 60 30 "48" "48" 0x00000001) - Pin(2750 1625 60 30 "49" "49" 0x00000001) - Pin(2700 1525 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60 28 "6" "6" 0x00000001) - Pin(2275 3725 60 28 "7" "7" 0x00000001) - Pin(2375 3725 60 28 "8" "8" 0x00000001) - Pin(2475 3725 60 28 "9" "9" 0x00000001) - Pin(2575 3725 60 28 "10" "10" 0x00000001) - Pin(2675 3725 60 28 "11" "11" 0x00000001) - Pin(2775 3725 60 28 "12" "12" 0x00000001) - Pin(2775 3425 60 28 "13" "13" 0x00000001) - Pin(2675 3425 60 28 "14" "14" 0x00000001) - Pin(2575 3425 60 28 "15" "15" 0x00000001) - Pin(2475 3425 60 28 "16" "16" 0x00000001) - Pin(2375 3425 60 28 "17" "17" 0x00000001) - Pin(2275 3425 60 28 "18" "18" 0x00000001) - Pin(2175 3425 60 28 "19" "19" 0x00000001) - Pin(2075 3425 60 28 "20" "20" 0x00000001) - Pin(1975 3425 60 28 "21" "21" 0x00000001) - Pin(1875 3425 60 28 "22" "22" 0x00000001) - Pin(1775 3425 60 28 "23" "23" 0x00000001) - Pin(1675 3425 60 28 "24" "24" 0x00000001) - ElementLine (1625 3525 1625 3375 10) - ElementLine (1625 3775 1625 3625 10) - ElementLine (2825 3375 1625 3375 10) - ElementLine (2825 3775 2825 3375 10) - ElementLine (1625 3775 2825 3775 10) - ElementArc (1625 3575 50 50 90 180 10) - Mark (1675 3725) -) - -Element(0x00000000 "capacitor_radial" "C3" "10uFx25V" 1175 3825 2 100 0x00000000) -( - Pin(1325 3725 60 20 "1" "1" 0x00000101) - Pin(1225 3725 60 20 "2" "2" 0x00000001) - ElementArc (1275 3725 100 100 180 360 10) - Mark (1325 3725) -) - -Element(0x00000000 "vertical, 95 mils center pole" "U1" "TINIm#90-RevD" 5750 1760 2 100 0x00000000) -( - Pin(5350 1625 60 30 "1" "1" 0x00000101) - Pin(5300 1525 60 30 "2" "2" 0x00000001) - Pin(5250 1625 60 30 "3" "3" 0x00000001) - Pin(5200 1525 60 30 "4" "4" 0x00000001) - Pin(5150 1625 60 30 "5" "5" 0x00000001) - Pin(5100 1525 60 30 "6" "6" 0x00000001) - Pin(5050 1625 60 30 "7" "7" 0x00000001) - Pin(5000 1525 60 30 "8" "8" 0x00000001) - Pin(4950 1625 60 30 "9" "9" 0x00000001) - Pin(4900 1525 60 30 "10" "10" 0x00000001) - Pin(4850 1625 60 30 "11" "11" 0x00000001) - Pin(4800 1525 60 30 "12" "12" 0x00000001) - Pin(4750 1625 60 30 "13" "13" 0x00000001) - Pin(4700 1525 60 30 "14" "14" 0x00000001) - Pin(4650 1625 60 30 "15" "15" 0x00000001) - Pin(4600 1525 60 30 "16" "16" 0x00000001) - Pin(4550 1625 60 30 "17" "17" 0x00000001) - Pin(4500 1525 60 30 "18" "18" 0x00000001) - Pin(4450 1625 60 30 "19" "19" 0x00000001) - Pin(4400 1525 60 30 "20" "20" 0x00000001) - Pin(4350 1625 60 30 "21" "21" 0x00000001) - Pin(4300 1525 60 30 "22" "22" 0x00000001) - Pin(4250 1625 60 30 "23" "23" 0x00000001) - Pin(4200 1525 60 30 "24" "24" 0x00000001) - Pin(4150 1625 60 30 "25" "25" 0x00000001) - Pin(4100 1525 60 30 "26" "26" 0x00000001) - Pin(4050 1625 60 30 "27" "27" 0x00000001) - Pin(4000 1525 60 30 "28" "28" 0x00000001) - Pin(3950 1625 60 30 "29" "29" 0x00000001) - Pin(3900 1525 60 30 "30" "30" 0x00000001) - Pin(3850 1625 60 30 "31" "31" 0x00000001) - Pin(3800 1525 60 30 "32" "32" 0x00000001) - Pin(3750 1625 60 30 "33" "33" 0x00000001) - Pin(3700 1525 60 30 "34" "34" 0x00000001) - Pin(3650 1625 60 30 "35" "35" 0x00000001) - Pin(3600 1525 60 30 "36" "36" 0x00000001) - Pin(3350 1625 60 30 "37" "37" 0x00000001) - Pin(3300 1525 60 30 "38" "38" 0x00000001) - Pin(3250 1625 60 30 "39" "39" 0x00000001) - Pin(3200 1525 60 30 "40" "40" 0x00000001) - Pin(3150 1625 60 30 "41" "41" 0x00000001) - Pin(3100 1525 60 30 "42" "42" 0x00000001) - Pin(3050 1625 60 30 "43" "43" 0x00000001) - Pin(3000 1525 60 30 "44" "44" 0x00000001) - Pin(2950 1625 60 30 "45" "45" 0x00000001) - Pin(2900 1525 60 30 "46" "46" 0x00000001) - Pin(2850 1625 60 30 "47" "47" 0x00000001) - Pin(2800 1525 60 30 "48" "48" 0x00000001) - Pin(2750 1625 60 30 "49" "49" 0x00000001) - Pin(2700 1525 60 30 "50" "50" 0x00000001) - Pin(2650 1625 60 30 "51" "51" 0x00000001) - Pin(2600 1525 60 30 "52" "52" 0x00000001) - Pin(2550 1625 60 30 "53" "53" 0x00000001) - Pin(2500 1525 60 30 "54" "54" 0x00000001) - Pin(2450 1625 60 30 "55" "55" 0x00000001) - Pin(2400 1525 60 30 "56" "56" 0x00000001) - Pin(2350 1625 60 30 "57" "57" 0x00000001) - Pin(2300 1525 60 30 "58" "58" 0x00000001) - Pin(2250 1625 60 30 "59" "59" 0x00000001) - Pin(2200 1525 60 30 "60" "60" 0x00000001) - Pin(2150 1625 60 30 "61" "61" 0x00000001) - Pin(2100 1525 60 30 "62" "62" 0x00000001) - Pin(2050 1625 60 30 "63" "63" 0x00000001) - Pin(2000 1525 60 30 "64" "64" 0x00000001) - Pin(1950 1625 60 30 "65" "65" 0x00000001) - Pin(1900 1525 60 30 "66" "66" 0x00000001) - Pin(1850 1625 60 30 "67" "67" 0x00000001) - Pin(1800 1525 60 30 "68" "68" 0x00000001) - Pin(1750 1625 60 30 "69" "69" 0x00000001) - Pin(1700 1525 60 30 "70" "70" 0x00000001) - Pin(1650 1625 60 30 "71" "71" 0x00000001) - Pin(1600 1525 60 30 "72" "72" 0x00000001) - Pin(5680 1575 84 64 "C1" "73" 0x00000001) - Pin(3475 1575 115 95 "0" "74" 0x00000001) - Pin(1275 1575 115 95 "C1" "75" 0x00000001) - ElementLine (5750 1700 5750 1410 20) - ElementLine (1200 1700 5750 1700 20) - ElementLine (1200 1410 1200 1700 20) - ElementLine (5750 1410 1200 1410 20) - Mark (5350 1625) -) - -Element(0x00000000 "capacitor_radial" "C5" "1uFx25V" 1175 3525 2 100 0x00000000) -( - Pin(1325 3425 60 20 "1" "1" 0x00000101) - Pin(1225 3425 60 20 "2" "2" 0x00000001) - ElementArc (1275 3425 100 100 180 360 10) - Mark (1325 3425) -) - -Element(0x00000000 "capacitor_radial" "C6" "1uFx25V" 3275 3325 0 100 0x00000000) -( - Pin(3125 3425 60 20 "1" "1" 0x00000101) - Pin(3225 3425 60 20 "2" "2" 0x00000001) - ElementArc (3175 3425 100 100 0 360 10) - Mark (3125 3425) -) - -Element(0x00000000 "generic" "U10" "MAX4429" 3600 2730 0 100 0x00000000) -( - Pin(3550 2900 60 28 "1" "1" 0x00000101) - Pin(3650 2900 60 28 "2" "2" 0x00000001) - Pin(3750 2900 60 28 "3" "3" 0x00000001) - Pin(3850 2900 60 28 "4" "4" 0x00000001) - Pin(3850 2600 60 28 "5" "5" 0x00000001) - Pin(3750 2600 60 28 "6" "6" 0x00000001) - Pin(3650 2600 60 28 "7" "7" 0x00000001) - Pin(3550 2600 60 28 "8" "8" 0x00000001) - ElementLine (3500 2700 3500 2550 10) - ElementLine (3500 2950 3500 2800 10) - ElementLine (3900 2550 3500 2550 10) - ElementLine (3900 2950 3900 2550 10) - ElementLine (3500 2950 3900 2950 10) - ElementArc (3500 2750 50 50 90 180 10) - Mark (3550 2900) -) - -Element(0x00000000 "shielded" "J2" "RJ 45" 1250 1128 2 100 0x00000000) -( - Pin(1075 575 60 30 "1" "1" 0x00000101) - Pin(1175 625 60 30 "2" "2" 0x00000001) - Pin(1075 675 60 30 "3" "3" 0x00000001) - Pin(1175 725 60 30 "4" "4" 0x00000001) - Pin(1075 775 60 30 "5" "5" 0x00000001) - Pin(1175 825 60 30 "6" "6" 0x00000001) - Pin(1075 875 60 30 "7" "7" 0x00000001) - Pin(1175 925 60 30 "8" "8" 0x00000001) - Pin(825 525 148 128 "C1" "9" 0x00000001) - Pin(825 976 148 128 "C1" "10" 0x00000001) - Pin(945 445 82 62 "C1" "11" 0x00000001) - Pin(945 1056 82 62 "C1" "12" 0x00000001) - ElementLine (1250 433 400 433 20) - ElementLine (400 433 400 1068 20) - ElementLine (400 1068 1250 1068 20) - ElementLine (1250 1068 1250 433 20) - Mark (1075 575) -) - -Element(0x00000000 "capacitor_radial" "C10" "4.7uFx16V" 3325 2800 0 100 0x00000000) -( - Pin(3175 2900 60 20 "1" "1" 0x00000101) - Pin(3275 2900 60 20 "2" "2" 0x00000001) - ElementArc (3225 2900 100 100 0 360 10) - Mark (3175 2900) -) - -Element(0x00000000 "optical coupling device" "U4" "6N136" 5775 405 0 100 0x00000000) -( - Pin(5725 575 60 28 "NC" "1" 0x00000101) - Pin(5825 575 60 28 "A+" "2" 0x00000001) - Pin(5925 575 60 28 "K-" "3" 0x00000001) - Pin(6025 575 60 28 "NC" "4" 0x00000001) - Pin(6025 275 60 28 "Gnd" "5" 0x00000001) - Pin(5925 275 60 28 "Out" "6" 0x00000001) - Pin(5825 275 60 28 "En" "7" 0x00000001) - Pin(5725 275 60 28 "Vcc" "8" 0x00000001) - ElementLine (5675 375 5675 225 10) - ElementLine (5675 625 5675 475 10) - ElementLine (6075 225 5675 225 10) - ElementLine (6075 625 6075 225 10) - ElementLine (5675 625 6075 625 10) - ElementArc (5675 425 50 50 90 180 10) - Mark (5725 575) -) - -Element(0x00000000 "IRLZ24N" "Q5" "IRLZ24N" 5675 1910 0 100 0x00000000) -( - Pin(5775 2100 80 20 "G" "1" 0x00000101) - Pin(5875 2100 80 20 "D" "2" 0x00000001) - Pin(5975 2100 80 20 "S" "3" 0x00000001) - ElementLine (5675 1980 6075 1980 20) - ElementLine (6075 1980 6075 2160 20) - ElementLine (6075 2160 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2735 0 100 0x00000000) -( - Pin(5250 2925 80 20 "G" "1" 0x00000101) - Pin(5350 2925 80 20 "D" "2" 0x00000001) - Pin(5450 2925 80 20 "S" "3" 0x00000001) - ElementLine (5150 2805 5550 2805 20) - ElementLine (5550 2805 5550 2985 20) - ElementLine (5550 2985 5150 2985 20) - ElementLine (5150 2985 5150 2805 20) - ElementLine (5150 2805 5550 2805 20) - ElementLine (5550 2805 5550 2865 20) - ElementLine (5550 2865 5150 2865 20) - ElementLine (5150 2865 5150 2805 20) - ElementLine (5280 2805 5280 2865 10) - ElementLine (5420 2805 5420 2865 10) - Mark (5250 2925) -) - -Element(0x00000000 "capacitor_radial" "C1" "100uFx25V" 4625 3850 2 100 0x00000000) -( - Pin(4850 3700 60 20 "1" "1" 0x00000101) - Pin(4700 3700 60 20 "2" "2" 0x00000001) - ElementArc (4775 3700 150 150 180 360 10) - Mark (4850 3700) -) - -Element(0x00000000 "R 0.25W" "R11" "330" 980 2945 2 100 0x00000000) -( - Pin(1100 2925 50 20 "1" "1" 0x00000101) - Pin(700 2925 50 20 "2" "2" 0x00000001) - ElementLine (800 2925 700 2925 20) - ElementLine (1100 2925 1000 2925 20) - ElementLine (1000 2875 1000 2975 20) - ElementLine (800 2875 1000 2875 20) - ElementLine (800 2975 800 2875 20) - ElementLine (1000 2975 800 2975 20) - Mark (1100 2925) -) - -Element(0x00000000 "E22 standing" "" "E22" 5550 3525 2 100 0x00000000) -( - ElementLine (6075 3850 5025 3850 20) - ElementLine (6075 3850 6075 3200 20) - ElementLine (6075 3200 6025 3200 20) - ElementLine (6025 3200 6025 3750 20) - ElementLine (6025 3750 5825 3750 20) - ElementLine (5825 3750 5825 3200 20) - ElementLine (5825 3200 5775 3200 20) - ElementLine (5775 3200 5775 3750 20) - ElementLine (5775 3750 5325 3750 20) - ElementLine (5025 3850 5025 3200 20) - ElementLine (5025 3200 5075 3200 20) - ElementLine (5075 3200 5075 3750 20) - ElementLine (5075 3750 5275 3750 20) - ElementLine (5275 3750 5275 3200 20) - ElementLine (5275 3200 5325 3200 20) - ElementLine (5325 3200 5325 3750 20) - Mark (6075 3850) -) - -Element(0x00000000 "R 0.25W" "R9" "10k" 2770 2695 3 100 0x00000000) -( - Pin(2750 2575 50 20 "1" "1" 0x00000101) - Pin(2750 2975 50 20 "2" "2" 0x00000001) - ElementLine (2800 2675 2800 2875 20) - ElementLine (2800 2875 2700 2875 20) - ElementLine (2700 2875 2700 2675 20) - ElementLine (2700 2675 2800 2675 20) - ElementLine (2750 2575 2750 2675 20) - ElementLine (2750 2875 2750 2975 20) - Mark (2750 2575) -) - -Element(0x00000000 "+12V 1.5A voltage regulator" "U3" "7812" 5750 3790 2 100 0x00000000) -( - Pin(5650 3600 80 20 "In" "1" 0x00000101) - Pin(5550 3600 80 20 "Com" "2" 0x00000001) - Pin(5450 3600 80 20 "Out" "3" 0x00000001) - ElementLine (5480 3720 5480 3660 10) - ElementLine (5620 3720 5620 3660 10) - ElementLine (5750 3660 5750 3720 20) - ElementLine (5350 3660 5750 3660 20) - ElementLine (5350 3720 5350 3660 20) - ElementLine (5750 3720 5350 3720 20) - ElementLine (5750 3540 5750 3720 20) - ElementLine (5350 3540 5750 3540 20) - ElementLine (5350 3720 5350 3540 20) - ElementLine (5750 3720 5350 3720 20) - Mark (5650 3600) -) - -Element(0x00000000 "capacitor_radial" "C8" "1000uFx35V" 4525 3025 2 100 0x00000000) -( - Pin(4900 2775 60 20 "1" "1" 0x00000101) - Pin(4650 2775 60 20 "2" "2" 0x00000001) - ElementArc (4775 2775 250 250 180 360 10) - Mark (4900 2775) -) - -Element(0x00000000 "generic" "U11" "10MHz" 1725 3030 0 100 0x00000000) -( - Pin(1675 3200 60 28 "1" "1" 0x00000101) - Pin(1775 3200 60 28 "2" "2" 0x00000001) - Pin(1875 3200 60 28 "3" "3" 0x00000001) - Pin(1975 3200 60 28 "4" "4" 0x00000001) - Pin(1975 2900 60 28 "5" "5" 0x00000001) - Pin(1875 2900 60 28 "6" "6" 0x00000001) - Pin(1775 2900 60 28 "7" "7" 0x00000001) - Pin(1675 2900 60 28 "8" "8" 0x00000001) - ElementLine (1625 3000 1625 2850 10) - ElementLine (1625 3250 1625 3100 10) - ElementLine (2025 2850 1625 2850 10) - ElementLine (2025 3250 2025 2850 10) - ElementLine (1625 3250 2025 3250 10) - ElementArc (1625 3050 50 50 90 180 10) - Mark (1675 3200) -) - -Element(0x00000000 "connector 2x1 pins" "JP2" "XRESET" 1210 3250 3 100 0x00000000) -( - Pin(1000 3300 60 30 "1" "1" 0x00000101) - Pin(1100 3300 60 30 "2" "2" 0x00000001) - ElementLine (1050 3350 1050 3250 10) - ElementLine (950 3350 1050 3350 10) - ElementLine (1150 3250 950 3250 20) - ElementLine (1150 3350 1150 3250 20) - ElementLine (950 3350 1150 3350 20) - ElementLine (950 3250 950 3350 20) - Mark (1000 3300) -) - -Element(0x00000000 "DIN 41612C-96 male" "J15" "DIN41612C96_male" 6575 3455 1 200 0x00000000) -( - Pin(6475 475 60 30 "a1" "A1" 0x00000101) - Pin(6475 575 60 30 "a2" "A2" 0x00000001) - Pin(6475 675 60 30 "a3" "A3" 0x00000001) - Pin(6475 775 60 30 "a4" "A4" 0x00000001) - Pin(6475 875 60 30 "a5" "A5" 0x00000001) - Pin(6475 975 60 30 "a6" "A6" 0x00000001) - Pin(6475 1075 60 30 "a7" "A7" 0x00000001) - Pin(6475 1175 60 30 "a8" "A8" 0x00000001) - Pin(6475 1275 60 30 "a9" "A9" 0x00000001) - Pin(6475 1375 60 30 "a10" "A10" 0x00000001) - Pin(6475 1475 60 30 "a11" "A11" 0x00000001) - Pin(6475 1575 60 30 "a12" "A12" 0x00000001) - Pin(6475 1675 60 30 "a13" "A13" 0x00000001) - Pin(6475 1775 60 30 "a14" "A14" 0x00000001) - Pin(6475 1875 60 30 "a15" "A15" 0x00000001) - Pin(6475 1975 60 30 "a16" "A16" 0x00000001) - Pin(6475 2075 60 30 "a17" "A17" 0x00000001) - Pin(6475 2175 60 30 "a18" "A18" 0x00000001) - Pin(6475 2275 60 30 "a19" "A19" 0x00000001) - Pin(6475 2375 60 30 "a20" "A20" 0x00000001) - Pin(6475 2475 60 30 "a21" "A21" 0x00000001) - Pin(6475 2575 60 30 "a22" "A22" 0x00000001) - Pin(6475 2675 60 30 "a23" "A23" 0x00000001) - Pin(6475 2775 60 30 "a24" "A24" 0x00000001) - Pin(6475 2875 60 30 "a25" "A25" 0x00000001) - Pin(6475 2975 60 30 "a26" "A26" 0x00000001) - Pin(6475 3075 60 30 "a27" "A27" 0x00000001) - Pin(6475 3175 60 30 "a28" "A28" 0x00000001) - Pin(6475 3275 60 30 "a29" "A29" 0x00000001) - Pin(6475 3375 60 30 "a30" "A30" 0x01000001) - Pin(6475 3475 60 30 "a31" "A31" 0x01000001) - Pin(6475 3575 60 30 "a32" "A32" 0x00000001) - Pin(6375 475 60 30 "b1" "B1" 0x00000001) - Pin(6375 575 60 30 "b2" "B2" 0x00000001) - Pin(6375 675 60 30 "b3" "B3" 0x00000001) - Pin(6375 775 60 30 "b4" "B4" 0x00000001) - Pin(6375 875 60 30 "b5" "B5" 0x00000001) - Pin(6375 975 60 30 "b6" "B6" 0x00000001) - Pin(6375 1075 60 30 "b7" "B7" 0x00000001) - Pin(6375 1175 60 30 "b8" "B8" 0x00000001) - Pin(6375 1275 60 30 "b9" "B9" 0x00000001) - Pin(6375 1375 60 30 "b10" "B10" 0x00000001) - Pin(6375 1475 60 30 "b11" "B11" 0x00000001) - Pin(6375 1575 60 30 "b12" "B12" 0x00000001) - Pin(6375 1675 60 30 "b13" "B13" 0x00000001) - Pin(6375 1775 60 30 "b14" "B14" 0x00000001) - Pin(6375 1875 60 30 "b15" "B15" 0x00000001) - Pin(6375 1975 60 30 "b16" "B16" 0x00000001) - Pin(6375 2075 60 30 "b17" "B17" 0x00000001) - Pin(6375 2175 60 30 "b18" "B18" 0x00000001) - Pin(6375 2275 60 30 "b19" "B19" 0x00000001) - Pin(6375 2375 60 30 "b20" "B20" 0x00000001) - Pin(6375 2475 60 30 "b21" "B21" 0x00000001) - Pin(6375 2575 60 30 "b22" "B22" 0x00000001) - Pin(6375 2675 60 30 "b23" "B23" 0x00000001) - Pin(6375 2775 60 30 "b24" "B24" 0x00000001) - Pin(6375 2875 60 30 "b25" "B25" 0x00000001) - Pin(6375 2975 60 30 "b26" "B26" 0x00000001) - Pin(6375 3075 60 30 "b27" "B27" 0x00000001) - Pin(6375 3175 60 30 "b28" "B28" 0x00000001) - Pin(6375 3275 60 30 "b29" "B29" 0x00000001) - Pin(6375 3375 60 30 "b30" "B30" 0x01000001) - Pin(6375 3475 60 30 "b31" "B31" 0x01000001) - Pin(6375 3575 60 30 "b32" "B32" 0x00000001) - Pin(6275 475 60 30 "c1" "C1" 0x00000001) - Pin(6275 575 60 30 "c2" "C2" 0x00000001) - Pin(6275 675 60 30 "c3" "C3" 0x00000001) - Pin(6275 775 60 30 "c4" "C4" 0x00000001) - Pin(6275 875 60 30 "c5" "C5" 0x00000001) - Pin(6275 975 60 30 "c6" "C6" 0x00000001) - Pin(6275 1075 60 30 "c7" "C7" 0x00000001) - Pin(6275 1175 60 30 "c8" "C8" 0x00000001) - Pin(6275 1275 60 30 "c9" "C9" 0x00000001) - Pin(6275 1375 60 30 "c10" "C10" 0x00000001) - Pin(6275 1475 60 30 "c11" "C11" 0x00000001) - Pin(6275 1575 60 30 "c12" "C12" 0x00000001) - Pin(6275 1675 60 30 "c13" "C13" 0x00000001) - Pin(6275 1775 60 30 "c14" "C14" 0x00000001) - Pin(6275 1875 60 30 "c15" "C15" 0x00000001) - Pin(6275 1975 60 30 "c16" "C16" 0x00000001) - Pin(6275 2075 60 30 "c17" "C17" 0x00000001) - Pin(6275 2175 60 30 "c18" "C18" 0x00000001) - Pin(6275 2275 60 30 "c19" "C19" 0x00000001) - Pin(6275 2375 60 30 "c20" "C20" 0x00000001) - Pin(6275 2475 60 30 "c21" "C21" 0x00000001) - Pin(6275 2575 60 30 "c22" "C22" 0x00000001) - Pin(6275 2675 60 30 "c23" "C23" 0x00000001) - Pin(6275 2775 60 30 "c24" "C24" 0x00000001) - Pin(6275 2875 60 30 "c25" "C25" 0x00000001) - Pin(6275 2975 60 30 "c26" "C26" 0x00000001) - Pin(6275 3075 60 30 "c27" "C27" 0x00000001) - Pin(6275 3175 60 30 "c28" "C28" 0x00000001) - Pin(6275 3275 60 30 "c29" "C29" 0x00000001) - Pin(6275 3375 60 30 "c30" "C30" 0x01000001) - Pin(6275 3475 60 30 "c31" "C31" 0x01000001) - Pin(6275 3575 60 30 "c32" "C32" 0x00000001) - Pin(6575 3775 120 80 "M1" "M1" 0x00000001) - Pin(6575 275 120 80 "M2" "M2" 0x00000001) - ElementLine (6975 275 6795 275 20) - ElementLine (6975 3775 6975 275 20) - ElementLine (6795 3775 6975 3775 20) - ElementLine (6570 3655 6570 395 20) - ElementLine (6570 395 6475 395 20) - ElementLine (6795 395 6570 395 10) - ElementLine (6795 275 6795 395 10) - ElementLine (6795 175 6795 275 20) - ElementLine (6475 175 6795 175 20) - ElementLine (6475 395 6475 175 20) - ElementLine (6795 3875 6475 3875 20) - ElementLine (6795 3775 6795 3875 20) - ElementLine (6795 3655 6795 3775 10) - ElementLine (6570 3655 6795 3655 10) - ElementLine (6475 3655 6570 3655 20) - ElementLine (6475 3875 6475 3655 20) - ElementLine (6275 475 6550 475 40) - ElementLine (6275 575 6550 575 40) - ElementLine (6275 675 6550 675 40) - ElementLine (6275 775 6550 775 40) - ElementLine (6275 875 6550 875 40) - ElementLine (6275 975 6550 975 40) - ElementLine (6275 1075 6550 1075 40) - ElementLine (6275 1175 6550 1175 40) - ElementLine (6275 1275 6550 1275 40) - ElementLine (6275 1375 6550 1375 40) - ElementLine (6275 1475 6550 1475 40) - ElementLine (6275 1575 6550 1575 40) - ElementLine (6275 1675 6550 1675 40) - ElementLine (6275 1775 6550 1775 40) - ElementLine (6275 1875 6550 1875 40) - ElementLine (6275 1975 6550 1975 40) - ElementLine (6275 2075 6550 2075 40) - ElementLine (6275 2175 6550 2175 40) - ElementLine (6275 2275 6550 2275 40) - ElementLine (6275 2375 6550 2375 40) - ElementLine (6275 2475 6550 2475 40) - ElementLine (6275 2575 6550 2575 40) - ElementLine (6275 2675 6550 2675 40) - ElementLine (6275 2775 6550 2775 40) - ElementLine (6275 2875 6550 2875 40) - ElementLine (6275 2975 6550 2975 40) - ElementLine (6275 3075 6550 3075 40) - ElementLine (6275 3175 6550 3175 40) - ElementLine (6275 3275 6550 3275 40) - ElementLine (6275 3375 6550 3375 40) - ElementLine (6275 3475 6550 3475 40) - ElementLine (6275 3575 6550 3575 40) - Mark (6475 475) -) - -Element(0x00000000 "capacitor_radial" "C11" "2.2nF" 5450 2000 0 100 0x00000000) -( - Pin(5300 2100 60 20 "1" "1" 0x00000101) - Pin(5400 2100 60 20 "2" "2" 0x00000001) - ElementArc (5350 2100 100 100 0 360 10) - Mark (5300 2100) -) - -Element(0x00000000 "IRF1010N" "Q1" "IRF1010N" 5675 2260 0 100 0x00000000) -( - Pin(5775 2450 80 20 "G" "1" 0x00000101) - Pin(5875 2450 80 20 "D" "2" 0x00000001) - Pin(5975 2450 80 20 "S" "3" 0x00000001) - ElementLine (5675 2330 6075 2330 20) - ElementLine (6075 2330 6075 2510 20) - ElementLine (6075 2510 5675 2510 20) - ElementLine (5675 2510 5675 2330 20) - ElementLine (5675 2330 6075 2330 20) - ElementLine (6075 2330 6075 2390 20) - ElementLine (6075 2390 5675 2390 20) - ElementLine (5675 2390 5675 2330 20) - ElementLine (5805 2330 5805 2390 10) - ElementLine (5945 2330 5945 2390 10) - Mark (5775 2450) -) - -Element(0x00000000 "diode" "D3" "1N4007" 850 3520 3 100 0x00000000) -( - Pin(800 3300 50 20 "1" "1" 0x00000101) - Pin(800 3600 50 20 "2" "2" 0x00000001) - ElementLine (800 3300 800 3400 10) - ElementLine (800 3500 800 3600 10) - ElementLine (800 3400 850 3500 10) - ElementLine (850 3500 750 3500 10) - ElementLine (750 3500 800 3400 10) - ElementLine (850 3400 750 3400 10) - Mark (800 3300) -) - -Element(0x00000000 "capacitor_radial" "C7" "1000uFx35V" 4525 2450 2 100 0x00000000) -( - Pin(4900 2200 60 20 "1" "1" 0x00000101) - Pin(4650 2200 60 20 "2" "2" 0x00000001) - ElementArc (4775 2200 250 250 180 360 10) - Mark (4900 2200) -) - -Element(0x00000000 "Push-button, tactile, right angle, 466mils actuator" "S1" "MJTP1236_D" 598 3389 0 100 0x00000000) -( - Pin(500 3300 59 39 "1" "1" 0x00000101) - Pin(500 3477 59 39 "2" "2" 0x00000001) - Pin(598 3251 71 51 "C1" "C1" 0x00000001) - Pin(598 3527 71 51 "C2" "C2" 0x00000001) - ElementLine (34 3448 400 3458 20) - ElementLine (34 3330 34 3448 20) - ElementLine (400 3320 34 3330 20) - ElementLine (538 3527 538 3251 20) - ElementLine (400 3527 658 3527 20) - ElementLine (400 3251 400 3527 20) - ElementLine (658 3251 400 3251 20) - Mark (500 3300) -) - -Element(0x00000000 "LED 5mm" "D10" "Green" 475 2570 0 100 0x00000000) -( - Pin(525 2650 60 20 "-" "1" 0x00000101) - Pin(525 2750 60 20 "+" "2" 0x00000001) - ElementArc (525 2700 50 50 0 360 15) - ElementArc (525 2700 70 70 0 360 10) - Mark (525 2650) -) - -Element(0x00000000 "generic PAL replacement" "U8" "GAL22V10" 2800 2180 0 100 0x00000000) -( - Pin(2750 2350 60 28 "CLK/I1" "1" 0x00000101) - Pin(2850 2350 60 28 "I2" "2" 0x00000001) - Pin(2950 2350 60 28 "I3" "3" 0x00000001) - Pin(3050 2350 60 28 "I4" "4" 0x00000001) - Pin(3150 2350 60 28 "I5" "5" 0x00000001) - Pin(3250 2350 60 28 "I6" "6" 0x00000001) - Pin(3350 2350 60 28 "I7" "7" 0x00000001) - Pin(3450 2350 60 28 "I8" "8" 0x00000001) - Pin(3550 2350 60 28 "I9" "9" 0x00000001) - Pin(3650 2350 60 28 "I10" "10" 0x00000001) - Pin(3750 2350 60 28 "I11" "11" 0x00000001) - Pin(3850 2350 60 28 "Gnd" "12" 0x00000001) - Pin(3850 2050 60 28 "I12" "13" 0x00000001) - Pin(3750 2050 60 28 "I/O/Qj" "14" 0x00000001) - Pin(3650 2050 60 28 "I/O/Qi" "15" 0x00000001) - Pin(3550 2050 60 28 "I/O/Qh" "16" 0x00000001) - Pin(3450 2050 60 28 "I/O/Qg" "17" 0x00000001) - Pin(3350 2050 60 28 "I/O/Qf" "18" 0x00000001) - Pin(3250 2050 60 28 "I/O/Qe" "19" 0x00000001) - Pin(3150 2050 60 28 "I/O/Qd" "20" 0x00000001) - Pin(3050 2050 60 28 "I/O/Qc" "21" 0x00000001) - Pin(2950 2050 60 28 "I/O/Qb" "22" 0x00000001) - Pin(2850 2050 60 28 "I/O/Qa" "23" 0x00000001) - Pin(2750 2050 60 28 "Vcc" "24" 0x00000001) - ElementLine (2700 2150 2700 2000 10) - ElementLine (2700 2400 2700 2250 10) - ElementLine (3900 2000 2700 2000 10) - ElementLine (3900 2400 3900 2000 10) - ElementLine (2700 2400 3900 2400 10) - ElementArc (2700 2200 50 50 90 180 10) - Mark (2750 2350) -) - -Element(0x00000000 "generic" "U6" "8254" 1400 2330 0 100 0x00000000) -( - Pin(1350 2650 60 28 "1" "1" 0x00000101) - Pin(1450 2650 60 28 "2" "2" 0x00000001) - Pin(1550 2650 60 28 "3" "3" 0x00000001) - Pin(1650 2650 60 28 "4" "4" 0x00000001) - Pin(1750 2650 60 28 "5" "5" 0x00000001) - Pin(1850 2650 60 28 "6" "6" 0x00000001) - Pin(1950 2650 60 28 "7" "7" 0x00000001) - Pin(2050 2650 60 28 "8" "8" 0x00000001) - Pin(2150 2650 60 28 "9" "9" 0x00000001) - Pin(2250 2650 60 28 "10" "10" 0x00000001) - Pin(2350 2650 60 28 "11" "11" 0x00000001) - Pin(2450 2650 60 28 "12" "12" 0x00000001) - Pin(2450 2050 60 28 "13" "13" 0x00000001) - Pin(2350 2050 60 28 "14" "14" 0x00000001) - Pin(2250 2050 60 28 "15" "15" 0x00000001) - Pin(2150 2050 60 28 "16" "16" 0x00000001) - Pin(2050 2050 60 28 "17" "17" 0x00000001) - Pin(1950 2050 60 28 "18" "18" 0x00000001) - Pin(1850 2050 60 28 "19" "19" 0x00000001) - Pin(1750 2050 60 28 "20" "20" 0x00000001) - Pin(1650 2050 60 28 "21" "21" 0x00000001) - Pin(1550 2050 60 28 "22" "22" 0x00000001) - Pin(1450 2050 60 28 "23" "23" 0x00000001) - Pin(1350 2050 60 28 "24" "24" 0x00000001) - ElementLine (1300 2300 1300 2000 10) - ElementLine (1300 2700 1300 2400 10) - ElementLine (2500 2000 1300 2000 10) - ElementLine (2500 2700 2500 2000 10) - ElementLine (1300 2700 2500 2700 10) - ElementArc (1300 2350 50 50 90 180 10) - Mark (1350 2650) -) - -Element(0x00000000 "connector 2x4 pins" "JP1" "ADDRESS" 4360 2000 3 100 0x00000000) -( - Pin(4150 2050 60 30 "1" "1" 0x00000101) - Pin(4250 2050 60 30 "2" "2" 0x00000001) - Pin(4150 2150 60 30 "3" "3" 0x00000001) - Pin(4250 2150 60 30 "4" "4" 0x00000001) - Pin(4150 2250 60 30 "5" "5" 0x00000001) - Pin(4250 2250 60 30 "6" "6" 0x00000001) - Pin(4150 2350 60 30 "7" "7" 0x00000001) - Pin(4250 2350 60 30 "8" "8" 0x00000001) - ElementLine (4100 2000 4100 2400 20) - ElementLine (4100 2400 4300 2400 20) - ElementLine (4300 2400 4300 2000 20) - ElementLine (4300 2000 4100 2000 20) - ElementLine (4100 2100 4200 2100 10) - ElementLine (4200 2100 4200 2000 10) - Mark (4150 2050) -) - -Element(0x00000000 "capacitor_radial" "C4" "10uFx25V" 3275 3625 0 100 0x00000000) -( - Pin(3125 3725 60 20 "1" "1" 0x00000101) - Pin(3225 3725 60 20 "2" "2" 0x00000001) - ElementArc (3175 3725 100 100 0 360 10) - Mark (3125 3725) -) - -Element(0x00000000 "generic" "U7" "HCTL-2016" 2450 405 0 100 0x00000000) -( - Pin(2400 575 60 28 "1" "1" 0x00000101) - Pin(2500 575 60 28 "2" "2" 0x00000001) - Pin(2600 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1 +symversion=0.1 +} +C 20400 85400 1 90 0 capacitor-1.sym +{ +T 20100 86100 5 10 1 1 180 0 1 +refdes=C27 +T 19700 85600 5 10 1 1 0 0 1 +value=2.2nF +T 19700 85600 5 10 0 0 90 0 1 +device=CAPACITOR +T 19500 85600 5 10 0 0 90 0 1 +symversion=0.1 +} +N 19400 86900 19400 86300 4 +N 20200 86500 20200 86300 4 +C 19300 85100 1 0 0 gnd-1.sym +C 20100 85100 1 0 0 gnd-1.sym +C 18500 87000 1 0 0 gnd-1.sym diff --git a/doc/aicpower.sch b/doc/aicpower.sch index 77e9fc2..8c5bf7f 100644 --- a/doc/aicpower.sch +++ b/doc/aicpower.sch @@ -1,598 +1,893 @@ -v 20030901 -C 43000 63100 1 0 0 resistor-1.sym +v 20100214 2 +T 17800 73600 9 10 1 0 0 0 1 +2 +T 19300 73600 9 10 1 0 0 0 1 +2 +T 19100 74700 9 10 1 0 0 0 1 +Universidade Federal do Rio Grande do Sul +T 19300 74500 9 10 1 0 0 0 1 +Departamento de Engenharia Eletrica +C 18400 76000 1 0 0 DIN41612C96-2.sym { -T 43200 63400 5 10 1 1 0 0 -refdes=R9 -T 43300 62900 5 10 1 1 0 0 -value=10k +T 21900 89000 5 10 1 1 0 6 1 +refdes=J2 +T 18400 76000 5 10 0 1 0 0 1 +description=DIN 41612C-96 +T 18400 75800 5 10 1 1 0 0 1 +footprint=DIN41612C96M } -C 43100 62100 1 90 0 resistor-1.sym +C 18600 88600 1 0 1 io-1.sym { -T 43500 62600 5 10 1 1 180 0 -refdes=R10 -T 42500 62500 5 10 1 1 0 0 -value=1k5 +T 17700 88700 5 10 1 1 0 7 1 +value=CANL +T 18600 88600 5 10 0 1 0 0 1 +net=CANL:1 } -N 43000 63000 43000 63200 4 -C 42900 61800 1 0 0 gnd-1.sym -N 43500 65500 43500 65300 4 -N 43500 65300 43800 65300 4 -N 43800 65500 43800 65300 4 -C 43700 65000 1 0 0 gnd-1.sym -N 43800 67700 43800 67800 4 -N 43800 67800 43500 67800 4 -N 43500 67700 43500 69400 4 -C 45200 69400 1 270 0 capacitor-2.sym -{ -T 45700 68900 5 10 1 1 0 0 -refdes=C10 -T 45700 68700 5 10 1 1 0 0 -value=4.7uFx16V +C 22200 88000 1 0 0 io-1.sym +{ +T 23100 88100 5 10 1 1 0 1 1 +value=CANH +T 22200 88000 5 10 0 1 0 0 1 +net=CANH:1 } -N 43500 69400 45400 69400 4 -C 44200 68200 1 0 0 gnd-1.sym -C 45300 68200 1 0 0 gnd-1.sym -N 45100 66900 45100 66300 4 -N 45100 66300 44900 66300 4 -C 45600 65700 1 0 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+value=+5V +} +N 14300 83300 14800 83300 4 +N 14800 83300 14800 84000 4 +N 14800 84000 15600 84000 4 +N 14300 83700 15600 83700 4 +N 15600 82000 15600 83700 4 +N 9900 83700 6500 83700 4 +N 6500 83700 6500 79700 4 +N 6500 79700 6000 79700 4 +N 9900 83300 6700 83300 4 +N 6700 83300 6700 80000 4 +N 6700 80000 6000 80000 4 diff --git a/doc/power.sch b/doc/power.sch new file mode 100644 index 0000000..598410a --- /dev/null +++ b/doc/power.sch @@ -0,0 +1,421 @@ +v 20041228 1 +C 4400 76800 1 0 0 resistor-1.sym +{ +T 4900 77100 5 10 1 1 0 0 1 +refdes=R? +T 4900 76600 5 10 1 1 0 0 1 +value=? +} +C 4500 75800 1 90 0 resistor-1.sym +{ +T 4200 76200 5 10 1 1 180 0 1 +refdes=R? +T 4600 76100 5 10 1 1 0 0 1 +value=? +} +N 4400 76700 4400 76900 4 +C 4300 75500 1 0 0 gnd-1.sym +N 4300 76900 4400 76900 4 +C 4300 76800 1 0 1 output-2.sym +{ +T 3400 76900 5 10 1 1 0 7 1 +value=REFPOS +T 4300 76800 5 10 0 1 0 0 1 +net=REFPOS:1 +} +C 6700 76800 1 0 1 input-2.sym +{ +T 6200 76900 5 10 1 1 0 1 1 +value=INDEX 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+} +C 1600 82500 1 0 0 input-2.sym +{ +T 2100 82600 5 10 1 1 0 7 1 +value=DRVB +T 1600 82500 5 10 0 1 0 0 1 +net=DRVB:1 +} +C 11100 86400 1 0 0 output-2.sym +{ +T 12000 86500 5 10 1 1 0 1 1 +value=MOTOR+ +T 11100 86400 5 10 0 1 0 0 1 +net=MOTOR+:1 +} +C 8400 82700 1 0 0 IRLZ24N-1.sym +{ +T 9100 82900 5 10 1 1 0 0 1 +device=IRF1010N +T 9000 83300 5 10 1 1 0 0 1 +refdes=Q? +} +C 4700 85100 1 0 0 generic-power.sym +{ +T 4900 85550 5 10 0 1 180 3 1 +net=+5V:1 +T 4700 85400 5 10 1 1 0 0 1 +value=+5V +} +N 8900 86500 11100 86500 4 +N 8900 83500 8900 87600 4 +N 11300 74900 11300 74700 4 +N 11300 74700 11600 74700 4 +N 11600 74900 11600 74700 4 +C 11500 74400 1 0 0 gnd-1.sym +N 11600 77100 11600 77200 4 +N 11600 77200 11300 77200 4 +N 11300 77100 11300 78800 4 +C 13000 78800 1 270 0 capacitor-2.sym +{ +T 13500 78400 5 10 1 1 0 0 1 +refdes=C? +T 13400 78100 5 10 1 1 0 0 1 +value=4.7uFx16V +} +N 11300 78800 13200 78800 4 +C 12000 77600 1 0 0 gnd-1.sym +C 13100 77600 1 0 0 gnd-1.sym +N 12900 76300 12900 75700 4 +N 12900 75700 12700 75700 4 +C 13400 75100 1 0 0 gnd-1.sym +N 12700 76300 14100 76300 4 +C 14500 75800 1 0 0 gnd-1.sym +C 10700 74900 1 0 0 max4429-1.sym +{ +T 11900 75000 5 10 1 1 0 0 1 +device=MAX4429 +T 12000 76900 5 10 1 1 0 0 1 +refdes=U? +} +C 12300 77900 1 90 0 capacitor-1.sym +{ +T 12400 78400 5 10 1 1 0 0 1 +refdes=C? +T 12300 78100 5 10 1 1 0 0 1 +value=220nF +} +C 13700 75400 1 90 0 capacitor-1.sym +{ +T 13800 75900 5 10 1 1 0 0 1 +refdes=C? +T 13700 75600 5 10 1 1 0 0 1 +value=2.2nF +} +C 9300 75900 1 0 0 input-2.sym +{ +T 9800 76000 5 10 1 1 0 7 1 +value=BRAKE +T 9300 75900 5 10 0 1 0 0 1 +net=BRAKE:1 +} +C 16000 77100 1 0 0 output-2.sym +{ +T 16900 77200 5 10 1 1 0 1 1 +value=/RELEASE +T 16000 77100 5 10 0 1 0 0 1 +net=/RELEASE:1 +} +C 14100 76100 1 0 0 IRLZ24N-1.sym +{ +T 14800 76300 5 10 1 1 0 0 1 +device=IRLZ24N +T 14700 76700 5 10 1 1 0 0 1 +refdes=Q? +} +C 11100 78800 1 0 0 generic-power.sym +{ +T 11300 79250 5 10 0 1 180 3 1 +net=+5V:1 +T 11100 79100 5 10 1 1 0 0 1 +value=+5V +} +N 14600 77200 16000 77200 4 +C 14800 77600 1 90 0 diode-1.sym +{ +T 15200 78300 5 10 1 1 180 0 1 +refdes=D? +T 15000 77900 5 10 1 1 0 0 1 +value=1N4007 +} +N 14600 76900 14600 77600 4 +C 14400 78800 1 0 0 generic-power.sym +{ +T 14600 79050 5 10 0 1 0 3 1 +net=+24V:1 +T 14400 79100 5 10 1 1 0 0 1 +value=+24V +} +N 14600 78800 14600 78500 4 +T 17900 73700 9 10 1 0 0 0 1 +3 +T 19300 73700 9 10 1 0 0 0 1 +3 +T 19100 74800 9 10 1 0 0 0 1 +Universidade Federal do Rio Grande do Sul +T 19300 74600 9 10 1 0 0 0 1 +Departamento de Engenharia Eletrica +C 5400 89100 1 0 0 12V-plus-1.sym +C 5900 88400 1 0 0 diode-1.sym +{ +T 6400 88900 5 10 1 1 0 0 1 +refdes=D? +T 6300 88200 5 10 1 1 0 0 1 +value=1N4148 +} +C 4300 86000 1 0 0 ltc4440es6-1.sym +{ +T 6000 87750 5 10 1 1 0 6 1 +refdes=U? +T 4600 87750 5 8 1 1 0 0 1 +device=LTC4440 +T 4600 88300 5 10 0 0 0 0 1 +symversion=0.1 +} +N 5600 89100 5600 88000 4 +N 5900 88600 5600 88600 4 +N 6800 88600 7200 88600 4 +N 7200 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1 capacitor-3.sym +{ +T 18900 87100 5 10 1 1 0 6 1 +refdes=C? +T 18900 86800 5 10 1 1 0 6 1 +value=1uFx25V +} +N 20100 87400 19200 87400 4 +N 20100 86500 20100 86600 4 +C 18000 87600 1 0 1 IRLZ24N-1.sym +{ +T 17300 87800 5 10 1 1 0 6 1 +device=IRF1010N +T 17400 88200 5 10 1 1 0 6 1 +refdes=Q? +} +N 20100 87000 19800 87000 4 +N 19800 87000 19800 87800 4 +N 19800 87800 18000 87800 4 +N 20100 86500 17500 86500 4 +C 20900 85700 1 0 1 gnd-1.sym +C 17700 89100 1 0 1 generic-power.sym +{ +T 17500 89350 5 10 0 1 0 3 1 +net=+24V:1 +T 17700 89400 5 10 1 1 0 6 1 +value=+24V +} +C 16000 89100 1 90 1 capacitor-3.sym +{ +T 15500 88800 5 10 1 1 0 6 1 +refdes=C? +T 15500 88500 5 10 1 1 0 6 1 +value=1000uFx35V +} +N 17500 88400 17500 89100 4 +N 17500 89100 15800 89100 4 +C 15900 87900 1 0 1 gnd-1.sym +C 22700 89100 1 90 1 capacitor-3.sym +{ +T 22200 88800 5 10 1 1 0 6 1 +refdes=C? +T 22200 88500 5 10 1 1 0 6 1 +value=10uFx25V +} +N 22500 89100 20800 89100 4 +C 22600 87900 1 0 1 gnd-1.sym +N 3000 87000 4300 87000 4 +N 3000 82600 4300 82600 4 +N 4000 87000 4000 80600 4 +N 4000 80600 22500 80600 4 +N 3500 82600 3500 80100 4 +N 22500 80600 22500 82600 4 +N 22500 82600 22100 82600 4 +N 3500 80100 23000 80100 4 +N 23000 80100 23000 87000 4 +N 23000 87000 22100 87000 4 diff --git a/doc/project b/doc/project new file mode 100644 index 0000000..e64e644 --- /dev/null +++ b/doc/project @@ -0,0 +1,2 @@ +schematics aicpic.sch aicpower.sch +output-name aic \ No newline at end of file diff --git a/dsPICAICtest/Makefile b/dsPICAICtest/Makefile new file mode 100644 index 0000000..c8d853e --- /dev/null +++ b/dsPICAICtest/Makefile @@ -0,0 +1,18 @@ +all: dspicaictest.hex + +dspicaictest.o:dspicaictest.c + $(CC) $(CPU) -x c -c $^ $(CCINCDIR) $(CCFLAGS) + + +dspicaictest:dspicaictest.o +# pic30-elf-gcc $^ -L/usr/pic30-elf/ -Wl --script=$(PWD)/p30f4012.gld -o $@ +# pic30-elf-ld -o $@ --script=$(PWD)/p30f4012.gld -L/usr/pic30-elf/ -lpic30-elf -lc-elf $^ + $(CC) $(CPU) $^ -o $@ $(CCLIBDIR) -Wl $(CCGLDFILE) + +dspicaictest.hex:dspicaictest + $(CCBIN2HEX) $^ +clean: + rm -f *.o dspicaictest *~ + +distclean:clean + rm -f dspicaictest.hex \ No newline at end of file diff --git a/dsPICAICtest/dspicaictest.c b/dsPICAICtest/dspicaictest.c new file mode 100644 index 0000000..8401f37 --- /dev/null +++ b/dsPICAICtest/dspicaictest.c @@ -0,0 +1,68 @@ +/****************************************************************************** + + Actuator Interface Card + dsPIC30F4012 test on AIC-2.0.0 + Copyright (C) 2008 Diego Caberlon Santini + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + + You can also obtain a copy of the GNU General Public License + at . + +******************************************************************************* +2008.06.12 -> Start dsPIC test to AIC-2.0.0 by Diego Caberlon Santini +*/ + +#include + + +/*---------------------------------------------------------------------------*/ +_FOSC(EC_PLL16 & CSW_FSCM_OFF); +_FWDT(WDT_OFF); +_FBORPOR(MCLR_EN & RST_IOPIN & PBOR_OFF & PWRT_64); +/*---------------------------------------------------------------------------*/ + +/** Wait some time (120ms) + */ +void delay(void) +{ + volatile int x = 0; + volatile int y = 0; + for( y=5; y>0; y--){ + for( x=30002; x>0; x-- ){ + } + } +} +/*---------------------------------------------------------------------------*/ + +/** Blink port RE0 + */ +void blinkLed(void) +{ + delay(); + PORTE = PORTE^0x01; +} +/*---------------------------------------------------------------------------*/ + +int main(int argc,char *argv[]) +{ + TRISE=0x00; + for(;;) + blinkLed(); + return 0; +} +/*---------------------------------------------------------------------------*/ + + diff --git a/dsPICtest/Makefile b/dsPICtest/Makefile new file mode 100644 index 0000000..ec5e7db --- /dev/null +++ b/dsPICtest/Makefile @@ -0,0 +1,18 @@ +all: dspictest.hex + +dspictest.o:dspictest.c + $(CC) $(CPU) -x c -c $^ $(CCINCDIR) $(CCFLAGS) + + +dspictest:dspictest.o +# pic30-elf-gcc $^ -L/usr/pic30-elf/ -Wl --script=$(PWD)/p30f4012.gld -o $@ +# pic30-elf-ld -o $@ --script=$(PWD)/p30f4012.gld -L/usr/pic30-elf/ -lpic30-elf -lc-elf $^ + $(CC) $(CPU) $^ -o $@ $(CCLIBDIR) -Wl $(CCGLDFILE) + +dspictest.hex:dspictest + $(CCBIN2HEX) $^ +clean: + rm -f *.o dspictest *~ + +distclean:clean + rm -f dspictest.hex \ No newline at end of file diff --git a/encodertst/encodertst.cpp b/dsPICtest/dspictest.c similarity index 50% rename from encodertst/encodertst.cpp rename to dsPICtest/dspictest.c index 6258ad6..02f922e 100644 --- a/encodertst/encodertst.cpp +++ b/dsPICtest/dspictest.c @@ -1,63 +1,65 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Encoder Test - Copyright (C) 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include -using namespace std; -#include - -#include -#include - - -int main(int argc,char *argv[]) -{ - cout << "\nAIC Encoder Test Program\n"; - cout << "Copyright (C) 2003 Walter Fetter Lages .\n\n"; - - if((argc < 2) || (argc > 4) || - ((argc >= 3) && strcasecmp(argv[1],"-UDP"))) - { - cout << "USAGE:\t" << argv[0] << " can_id\n"; - cout << "\tor\n\t" << argv[0] << " -UDP aic [status_port]\n"; - return -1; - } - - AIC *aic; - switch(argc) - { - default: - case 2: aic=new AIC_CAN(atoi(argv[1])); break; - case 3: aic=new AIC_UDP(argv[2]); break; - case 4: aic=new AIC_UDP(argv[2],atoi(argv[3])); break; - } - - for(;;) - { - cout << "Encoder reading: " << aic->encoder.read() << "rad\n"; - } - delete aic; - - return 0; -} +/****************************************************************************** + + Actuator Interface Card + dsPIC30F4012 testM + Copyright (C) 2008 Diego Caberlon Santini M + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + + You can also obtain a copy of the GNU General Public License + at . + +******************************************************************************* +2008.06.10 -> Start dsPIC test by Diego Caberlon Santini +*/ + +#include + + +/*---------------------------------------------------------------------------*/ +_FOSC(FRC & CSW_FSCM_OFF); //Config OSC to internal RC osc 7.37MHz +_FWDT(WDT_OFF); +_FBORPOR(MCLR_EN & RST_IOPIN & PBOR_OFF & PWRT_64); +/*---------------------------------------------------------------------------*/ + +/** Wait some time (120ms) + */ +void delay(void) +{ + volatile int x = 0; + for( x=30002; x>0; x-- ){ + } +} +/*---------------------------------------------------------------------------*/ + +/** Blink port RE0 + */ +void blinkLed(void) +{ + delay(); + PORTE = PORTE^0x01; +} +/*---------------------------------------------------------------------------*/ + +int main(int argc,char *argv[]) +{ + TRISE=0x00; + for(;;) + blinkLed(); + return 0; +} +/*---------------------------------------------------------------------------*/ + + diff --git a/encodertst/Makefile b/encodertst/Makefile deleted file mode 100644 index e30494a..0000000 --- a/encodertst/Makefile +++ /dev/null @@ -1,12 +0,0 @@ -all: encodertst - -encodertst: encodertst.cpp ../lib/libaic.a - ${CXX} ${CMPFLAGS} -o encodertst encodertst.cpp ${LDFLAGS} - -clean: - rm -f *~ *.bak *.o - -install: - -distclean: clean - rm -f encodertst diff --git a/freertosAICtest/FreeRTOSConfig.h b/freertosAICtest/FreeRTOSConfig.h new file mode 100644 index 0000000..1091a26 --- /dev/null +++ b/freertosAICtest/FreeRTOSConfig.h @@ -0,0 +1,96 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** + configured for AIC-2.0.0 by Diego Caberlon Santini - 12/06/2008 + *************************************************************************** +*/ + +#ifndef FREERTOS_CONFIG_H +#define FREERTOS_CONFIG_H + +#include + +/*----------------------------------------------------------- + * Application specific definitions. + * + * These definitions should be adjusted for your particular hardware and + * application requirements. + * + * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE + * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. + *----------------------------------------------------------*/ + +#define configUSE_PREEMPTION 1 +#define configUSE_IDLE_HOOK 0 +#define configUSE_TICK_HOOK 0 +#define configTICK_RATE_HZ ( ( portTickType ) 1000 ) /*1 ms*/ +#define configCPU_CLOCK_HZ ( ( unsigned portLONG ) 24000000 ) /* Fosc / 4 = 24MHz*/ +#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 4 ) +#define configMINIMAL_STACK_SIZE ( 105 ) +#define configTOTAL_HEAP_SIZE ( ( size_t ) 5120/4 ) +#define configMAX_TASK_NAME_LEN ( 4 ) +#define configUSE_TRACE_FACILITY 0 +#define configUSE_16_BIT_TICKS 0 /*32 bits tick count*/ +#define configIDLE_SHOULD_YIELD 0 +#define configUSE_USE_MUTEXES 0 +#define configUSE_RECURSIVE_MUTEXES 0 +#define configUSE_COUNTING_SEMAPHORES 0 +#define configUSE_ALTERNATIVE_API 0 +#define configCHECK_FOR_STACK_OVERFLOW 0 + +/* Co-routine definitions. */ +#define configUSE_CO_ROUTINES 0 +#define configMAX_CO_ROUTINE_PRIORITIES (0 ) + +/* Set the following definitions to 1 to include the API function, or zero +to exclude the API function. */ + +#define INCLUDE_vTaskPrioritySet 0 +#define INCLUDE_uxTaskPriorityGet 0 +#define INCLUDE_vTaskDelete 0 +#define INCLUDE_vTaskCleanUpResources 0 +#define INCLUDE_vTaskSuspend 0 +#define INCLUDE_vTaskDelayUntil 1 +#define INCLUDE_vTaskDelay 0 + + +#define configKERNEL_INTERRUPT_PRIORITY 0x01 + +#endif /* FREERTOS_CONFIG_H */ diff --git a/freertosAICtest/Makefile b/freertosAICtest/Makefile new file mode 100644 index 0000000..210f770 --- /dev/null +++ b/freertosAICtest/Makefile @@ -0,0 +1,21 @@ +CCINCDIR+=-I. + +all: freertosAICtest.hex + +freertosAICtest.hex:freertosAICtest + $(CCBIN2HEX) $^ + +freertosAICtest:freertosAICtest.o $(OSOBJS) + $(CC) $(CPU) $^ -o $@ $(CCLIBDIR) -Wl $(CCGLDFILE) + +freertosAICtest.o:freertosAICtest.c + $(CC) $(CPU) -x c -c $^ $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS) + +$(OSOBJS):$(OSFILES) + for i in $(OSFILES); do $(CC) $(CPU) -x c -c $$i $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS) ; done + +clean: + rm -f *.o freertosAICtest *~ + +distclean:clean + rm -f freertosAICtest.hex \ No newline at end of file diff --git a/freertosAICtest/freertosAICtest.c b/freertosAICtest/freertosAICtest.c new file mode 100644 index 0000000..5897461 --- /dev/null +++ b/freertosAICtest/freertosAICtest.c @@ -0,0 +1,128 @@ +/****************************************************************************** + + Actuator Interface Card + FreeRTOS test on AIC-2.0.0 + Copyright (C) 2008 Diego Caberlon Santini + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + + You can also obtain a copy of the GNU General Public License + at . + +******************************************************************************* +2008.06.12 -> Start FreeRTOS test to AIC-2.0.0 by Diego Caberlon Santini from Demos apps. +******************************************************************************* +*/ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "queue.h" +#include "croutine.h" +/*---------------------------------------------------------------------------*/ + +#define mainLED_TAKS_STACK_SIZE ( configMINIMAL_STACK_SIZE) + +#define mainLED_TASK_PRIORITY1 ( tskIDLE_PRIORITY + 3 ) + +/* The execution period of the check task. */ +#define mainLED_TASK_PERIOD1 ( ( portTickType ) 1000 / portTICK_RATE_MS ) + +#define mainLED_TASK_PRIORITY2 ( tskIDLE_PRIORITY + 2 ) + +/* The execution period of the check task. */ +#define mainLED_TASK_PERIOD2 ( ( portTickType ) 2000 / portTICK_RATE_MS ) +/*---------------------------------------------------------------------------*/ + +_FOSC(EC_PLL16 & CSW_FSCM_OFF); +_FWDT(WDT_OFF); +_FBORPOR(MCLR_EN & RST_IOPIN & PBOR_OFF & PWRT_64); +/*---------------------------------------------------------------------------*/ + +/** Blink port RE0 mainLED_TASK_PERIOD1 (1s) + */ +static void vLEDTask1( void *pvParameters ); + +/** Blink port RE0 mainLED_TASK_PERIOD2 (2s) + */ +static void vLEDTask2( void *pvParameters ); + +/*---------------------------------------------------------------------------*/ + +/* + * Create the demo tasks then start the scheduler. + */ +int main( void ) +{ + + TRISE=0x00; + + /* Create the test tasks defined within this file. */ + xTaskCreate( vLEDTask1, ( signed portCHAR * ) "LED1", mainLED_TAKS_STACK_SIZE, NULL, mainLED_TASK_PRIORITY1, NULL ); + + xTaskCreate( vLEDTask2, ( signed portCHAR * ) "LED2", mainLED_TAKS_STACK_SIZE, NULL, mainLED_TASK_PRIORITY2, NULL ); + + /* Finally start the scheduler. */ + vTaskStartScheduler(); + + /* Will only reach here if there is insufficient heap available to start + the scheduler. */ + return 0; +} +/*---------------------------------------------------------------------------*/ + +static void vLEDTask1( void *pvParameters ) +{ +/* Used to wake the task at the correct frequency. */ +portTickType xLastExecutionTime; + + /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil() + works correctly. */ + xLastExecutionTime = xTaskGetTickCount(); + + for(;;) + { + /* Wait until it is time for the next cycle. */ + vTaskDelayUntil( &xLastExecutionTime, mainLED_TASK_PERIOD1 ); + PORTE = PORTE^0x01; + + /* Has an error been found in any of the standard demo tasks? */ + + } +} +/*---------------------------------------------------------------------------*/ + +static void vLEDTask2( void *pvParameters ) +{ + /* Used to wake the task at the correct frequency. */ + portTickType xLastExecutionTime; + + /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil() + works correctly. */ + xLastExecutionTime = xTaskGetTickCount(); + + for(;;) + { + /* Wait until it is time for the next cycle. */ + vTaskDelayUntil( &xLastExecutionTime, mainLED_TASK_PERIOD2 ); + PORTE = PORTE^0x02; + + /* Has an error been found in any of the standard demo tasks? */ + + } +} +/*---------------------------------------------------------------------------*/ + diff --git a/freertostest/FreeRTOSConfig.h b/freertostest/FreeRTOSConfig.h new file mode 100644 index 0000000..b26024d --- /dev/null +++ b/freertostest/FreeRTOSConfig.h @@ -0,0 +1,97 @@ +/* + FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry. + + This file is part of the FreeRTOS.org distribution. + + FreeRTOS.org is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + FreeRTOS.org is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with FreeRTOS.org; if not, write to the Free Software + Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + A special exception to the GPL can be applied should you wish to distribute + a combined work that includes FreeRTOS.org, without being obliged to provide + the source code for any proprietary components. See the licensing section + of http://www.FreeRTOS.org for full details of how and when the exception + can be applied. + + *************************************************************************** + + Please ensure to read the configuration and relevant port sections of the + online documentation. + + +++ http://www.FreeRTOS.org +++ + Documentation, latest information, license and contact details. + + +++ http://www.SafeRTOS.com +++ + A version that is certified for use in safety critical systems. + + +++ http://www.OpenRTOS.com +++ + Commercial support, development, porting, licensing and training services. + + *************************************************************************** + configured for AIC-2.0.0 by Diego Caberlon Santini - 28/05/2008 + *************************************************************************** +*/ + +#ifndef FREERTOS_CONFIG_H +#define FREERTOS_CONFIG_H + +#include + +/*----------------------------------------------------------- + * Application specific definitions. + * + * These definitions should be adjusted for your particular hardware and + * application requirements. + * + * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE + * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. + *----------------------------------------------------------*/ + +#define configUSE_PREEMPTION 1 +#define configUSE_IDLE_HOOK 0 +#define configUSE_TICK_HOOK 0 +#define configTICK_RATE_HZ ( ( portTickType ) 1000 ) /*1 ms*/ +#define configCPU_CLOCK_HZ ( ( unsigned portLONG ) 1842500 ) /* Fosc / 4 = 1.8425MHz*/ +// #define configCPU_CLOCK_HZ ( ( unsigned portLONG ) 24000000 ) /* Fosc / 4 = 24MHz*/ +#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 4 ) +#define configMINIMAL_STACK_SIZE ( 105 ) +#define configTOTAL_HEAP_SIZE ( ( size_t ) 5120/4 ) +#define configMAX_TASK_NAME_LEN ( 4 ) +#define configUSE_TRACE_FACILITY 0 +#define configUSE_16_BIT_TICKS 0 /*32 bits tick count*/ +#define configIDLE_SHOULD_YIELD 0 +#define configUSE_USE_MUTEXES 0 +#define configUSE_RECURSIVE_MUTEXES 0 +#define configUSE_COUNTING_SEMAPHORES 0 +#define configUSE_ALTERNATIVE_API 0 +#define configCHECK_FOR_STACK_OVERFLOW 0 + +/* Co-routine definitions. */ +#define configUSE_CO_ROUTINES 0 +#define configMAX_CO_ROUTINE_PRIORITIES (0 ) + +/* Set the following definitions to 1 to include the API function, or zero +to exclude the API function. */ + +#define INCLUDE_vTaskPrioritySet 0 +#define INCLUDE_uxTaskPriorityGet 0 +#define INCLUDE_vTaskDelete 0 +#define INCLUDE_vTaskCleanUpResources 0 +#define INCLUDE_vTaskSuspend 0 +#define INCLUDE_vTaskDelayUntil 1 +#define INCLUDE_vTaskDelay 0 + + +#define configKERNEL_INTERRUPT_PRIORITY 0x01 + +#endif /* FREERTOS_CONFIG_H */ diff --git a/freertostest/Makefile b/freertostest/Makefile new file mode 100644 index 0000000..86b6b32 --- /dev/null +++ b/freertostest/Makefile @@ -0,0 +1,21 @@ +CCINCDIR+=-I. + +all: freertostest.hex + +freertostest.hex:freertostest + $(CCBIN2HEX) $^ + +freertostest:freertostest.o $(OSOBJS) + $(CC) $(CPU) $^ -o $@ $(CCLIBDIR) -Wl $(CCGLDFILE) + +freertostest.o:freertostest.c + $(CC) $(CPU) -x c -c $^ $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS) + +$(OSOBJS):$(OSFILES) + for i in $(OSFILES); do $(CC) $(CPU) -x c -c $$i $(CCINCDIR) $(OSINCDIR) $(CCFLAGS) $(OSFLAGS) ; done + +clean: + rm -f *.o freertostest *~ + +distclean:clean + rm -f freertostest.hex \ No newline at end of file diff --git a/freertostest/freertostest.c b/freertostest/freertostest.c new file mode 100644 index 0000000..c6b9795 --- /dev/null +++ b/freertostest/freertostest.c @@ -0,0 +1,96 @@ +/****************************************************************************** + + Actuator Interface Card + FreeRTOS test + Copyright (C) 2008 Diego Caberlon Santini + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + + You can also obtain a copy of the GNU General Public License + at . + +******************************************************************************* +2008.06.10 -> Start FreeRTOS test by Diego Caberlon Santini from Demos apps. +******************************************************************************* +*/ +#include + +/* Scheduler includes. */ +#include "FreeRTOS.h" +#include "task.h" +#include "queue.h" +#include "croutine.h" +/*---------------------------------------------------------------------------*/ + +#define mainLED_TAKS_STACK_SIZE ( configMINIMAL_STACK_SIZE) + +#define mainLED_TASK_PRIORITY ( tskIDLE_PRIORITY + 3 ) + +/* The execution period of the check task. */ +#define mainCHECK_TASK_PERIOD ( ( portTickType ) 5 / portTICK_RATE_MS ) +/*---------------------------------------------------------------------------*/ + +// _FOSC(EC_PLL16 & CSW_FSCM_OFF); +_FOSC(FRC & CSW_FSCM_OFF); +_FWDT(WDT_OFF); +_FBORPOR(MCLR_EN & RST_IOPIN & PBOR_OFF & PWRT_64); +/*---------------------------------------------------------------------------*/ + +/** Blink port RE0 (10ms) + */ +static void vLEDTask( void *pvParameters ); +/*---------------------------------------------------------------------------*/ + +/* + * Create the demo tasks then start the scheduler. + */ +int main( void ) +{ + + TRISE=0x00; + + /* Create the test tasks defined within this file. */ + xTaskCreate( vLEDTask, ( signed portCHAR * ) "LED", mainLED_TAKS_STACK_SIZE, NULL, mainLED_TASK_PRIORITY, NULL ); + + /* Finally start the scheduler. */ + vTaskStartScheduler(); + + /* Will only reach here if there is insufficient heap available to start + the scheduler. */ + return 0; +} +/*---------------------------------------------------------------------------*/ + +static void vLEDTask( void *pvParameters ) +{ +/* Used to wake the task at the correct frequency. */ +portTickType xLastExecutionTime; + + /* Initialise xLastExecutionTime so the first call to vTaskDelayUntil() + works correctly. */ + xLastExecutionTime = xTaskGetTickCount(); + + for( ;; ) + { + /* Wait until it is time for the next cycle. */ + vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_PERIOD ); + PORTE = PORTE^0x01; + + /* Has an error been found in any of the standard demo tasks? */ + + } +} +/*---------------------------------------------------------------------------*/ + diff --git a/gld/p30f4012.gld b/gld/p30f4012.gld new file mode 100644 index 0000000..8f41803 --- /dev/null +++ b/gld/p30f4012.gld @@ -0,0 +1,1937 @@ +/* +** Linker Script for 30f4012 +*/ + +OUTPUT_ARCH("30f4012") +EXTERN(__resetPRI) +EXTERN(__resetALT) + + +/* +** Memory Regions +*/ +MEMORY +{ + data (a!xr) : ORIGIN = 0x800, LENGTH = 2048 + program (xr) : ORIGIN = 0x100, LENGTH = ((16K * 2) - 0x100) + reset : ORIGIN = 0, LENGTH = (4) + ivt : ORIGIN = 0x04, LENGTH = (62 * 2) + aivt : ORIGIN = 0x84, LENGTH = (62 * 2) + __FOSC : ORIGIN = 0xF80000, LENGTH = (2) + __FWDT : ORIGIN = 0xF80002, LENGTH = (2) + __FBORPOR : ORIGIN = 0xF80004, LENGTH = (2) + __CONFIG4 : ORIGIN = 0xF80006, LENGTH = (2) + __CONFIG5 : ORIGIN = 0xF80008, LENGTH = (2) + __FGS : ORIGIN = 0xF8000A, LENGTH = (2) + eedata : ORIGIN = 0x7FFC00, LENGTH = (1024) +} +__NO_HANDLES = 1; /* Suppress handles on this device */ + + +/* +** Base Memory Addresses - Program Memory +*/ +__RESET_BASE = 0; /* Reset Instruction */ +__IVT_BASE = 0x04; /* Interrupt Vector Table */ +__AIVT_BASE = 0x84; /* Alternate Interrupt Vector Table */ +__CODE_BASE = 0x100; /* Handles, User Code, Library Code */ + + +/* +** Base Memory Addresses - Data Memory +*/ +__SFR_BASE = 0; /* Memory-mapped SFRs */ +__DATA_BASE = 0x800; /* X and General Purpose Data Memory */ +__YDATA_BASE = 0x0C00; /* Y Data Memory for DSP Instructions */ + + +/* +** ==================== Section Map ====================== +*/ + +SECTIONS +{ + + /* + ** ================== Program Memory ===================== + */ + + /* + ** Reset Instruction + */ + .reset __RESET_BASE : + { + SHORT(ABSOLUTE(__reset)); + SHORT(0x04); + SHORT((ABSOLUTE(__reset) >> 16) & 0x7F); + SHORT(0); + } >reset + + + /* + ** Interrupt Vector Tables + ** + ** The primary and alternate tables are loaded + ** here, between sections .reset and .text. + ** Vector table source code appears below. + */ + + /* + ** User Code and Library Code + */ + .text __CODE_BASE : + { + *(.handle); + *(.libc) *(.libm) *(.libdsp); /* keep together in this order */ + *(.lib*); + *(.text); + } >program + + /* + ** User-Defined Section in Program Memory + ** + ** note: can specify an address using + ** the following syntax: + ** + ** usercode 0x1234 : + ** { + ** *(usercode); + ** } >program + */ + usercode : + { + *(usercode); + } >program + + + /* + ** ================ Configuration Memory ================ + */ + + + /* + ** Configuration Fuses + */ + __FOSC : + { *(__FOSC.sec) } >__FOSC + __FWDT : + { *(__FWDT.sec) } >__FWDT + __FBORPOR : + { *(__FBORPOR.sec) } >__FBORPOR + __CONFIG4 : + { *(__CONFIG4.sec) } >__CONFIG4 + __CONFIG5 : + { *(__CONFIG5.sec) } >__CONFIG5 + __FGS : + { *(__FGS.sec) } >__FGS + + + /* + ** User-Defined Section in Data Flash Memory + ** + ** note: can specify an address using + ** the following syntax: + ** + ** user_eedata 0x7FFC00 : + ** { + ** *(user_eedata); + ** } >eedata + */ + user_eedata : + { + *(user_eedata); + } >eedata + + + /* + ** ==================== Data Memory =================== + */ + + /* + ** ICD Debug Exec + ** + ** This section provides optional storage for + ** the ICD2 debugger. Define a global symbol + ** named __ICD2RAM to enable ICD2. This section + ** must be loaded at data address 0x800. + */ + .icd __DATA_BASE (NOLOAD): + { + . += (DEFINED (__ICD2RAM) ? 0x50 : 0 ); + } > data + + + /* + ** User-Defined Section in Data Memory + ** + ** note: can specify an address using + ** the following syntax: + ** + ** userdata 0x1234 : + ** { + ** *(userdata); + ** } >data + */ + userdata : + { + *(userdata); + } >data + + + /* + ** ===================== Debug Info ==================== + */ + + .comment 0 : { *(.comment) } + + /* + ** DWARF-2 + */ + .debug_info 0 : { *(.debug_info) *(.gnu.linkonce.wi.*) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_line 0 : { *(.debug_line) } + .debug_frame 0 : { *(.debug_frame) } + .debug_str 0 : { *(.debug_str) } + .debug_loc 0 : { *(.debug_loc) } + .debug_macinfo 0 : { *(.debug_macinfo) } + .debug_pubnames 0 : { *(.debug_pubnames) } + .debug_ranges 0 : { *(.debug_ranges) } + .debug_aranges 0 : { *(.debug_aranges) } + +} /* SECTIONS */ + +/* +** ================= End of Section Map ================ +*/ +/* +** Section Map for Interrupt Vector Tables +*/ +SECTIONS +{ + +/* +** Primary Interrupt Vector Table +*/ +.ivt __IVT_BASE : + { + LONG(DEFINED(__ReservedTrap0 +) ? ABSOLUTE(__ReservedTrap0 +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__OscillatorFail +)? ABSOLUTE(__OscillatorFail +): + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__AddressError +) ? ABSOLUTE(__AddressError +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__StackError +) ? ABSOLUTE(__StackError +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__MathError +) ? ABSOLUTE(__MathError +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__ReservedTrap5 +) ? ABSOLUTE(__ReservedTrap5 +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__ReservedTrap6 +) ? ABSOLUTE(__ReservedTrap6 +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__ReservedTrap7 +) ? ABSOLUTE(__ReservedTrap7 +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__INT0Interrupt +) ? ABSOLUTE(__INT0Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__IC1Interrupt +) ? ABSOLUTE(__IC1Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__OC1Interrupt +) ? ABSOLUTE(__OC1Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__T1Interrupt +) ? ABSOLUTE(__T1Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__IC2Interrupt +) ? ABSOLUTE(__IC2Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__OC2Interrupt +) ? ABSOLUTE(__OC2Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__T2Interrupt +) ? ABSOLUTE(__T2Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__T3Interrupt +) ? ABSOLUTE(__T3Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__SPI1Interrupt +) ? ABSOLUTE(__SPI1Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__U1RXInterrupt +) ? ABSOLUTE(__U1RXInterrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__U1TXInterrupt +) ? ABSOLUTE(__U1TXInterrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__ADCInterrupt +) ? ABSOLUTE(__ADCInterrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__NVMInterrupt +) ? ABSOLUTE(__NVMInterrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__SI2CInterrupt +) ? ABSOLUTE(__SI2CInterrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__MI2CInterrupt +) ? ABSOLUTE(__MI2CInterrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__CNInterrupt +) ? ABSOLUTE(__CNInterrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__INT1Interrupt +) ? ABSOLUTE(__INT1Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__IC7Interrupt +) ? ABSOLUTE(__IC7Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__IC8Interrupt +) ? ABSOLUTE(__IC8Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__OC3Interrupt +) ? ABSOLUTE(__OC3Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__OC4Interrupt +) ? ABSOLUTE(__OC4Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__T4Interrupt +) ? ABSOLUTE(__T4Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__T5Interrupt +) ? ABSOLUTE(__T5Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__INT2Interrupt +) ? ABSOLUTE(__INT2Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__U2RXInterrupt +) ? ABSOLUTE(__U2RXInterrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__U2TXInterrupt +) ? ABSOLUTE(__U2TXInterrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__SPI2Interrupt +) ? ABSOLUTE(__SPI2Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__C1Interrupt +) ? ABSOLUTE(__C1Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__IC3Interrupt +) ? ABSOLUTE(__IC3Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__IC4Interrupt +) ? ABSOLUTE(__IC4Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__IC5Interrupt +) ? ABSOLUTE(__IC5Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__IC6Interrupt +) ? ABSOLUTE(__IC6Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__OC5Interrupt +) ? ABSOLUTE(__OC5Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__OC6Interrupt +) ? ABSOLUTE(__OC6Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__OC7Interrupt +) ? ABSOLUTE(__OC7Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__OC8Interrupt +) ? ABSOLUTE(__OC8Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__INT3Interrupt +) ? ABSOLUTE(__INT3Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__INT4Interrupt +) ? ABSOLUTE(__INT4Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__C2Interrupt +) ? ABSOLUTE(__C2Interrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__PWMInterrupt +) ? ABSOLUTE(__PWMInterrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__QEIInterrupt +) ? ABSOLUTE(__QEIInterrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__DCIInterrupt +) ? ABSOLUTE(__DCIInterrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__LVDInterrupt +) ? ABSOLUTE(__LVDInterrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__FLTAInterrupt +) ? ABSOLUTE(__FLTAInterrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__FLTBInterrupt +) ? ABSOLUTE(__FLTBInterrupt +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__Interrupt45 +) ? ABSOLUTE(__Interrupt45 +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__Interrupt46 +) ? ABSOLUTE(__Interrupt46 +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__Interrupt47 +) ? ABSOLUTE(__Interrupt47 +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__Interrupt48 +) ? ABSOLUTE(__Interrupt48 +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__Interrupt49 +) ? ABSOLUTE(__Interrupt49 +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__Interrupt50 +) ? ABSOLUTE(__Interrupt50 +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__Interrupt51 +) ? ABSOLUTE(__Interrupt51 +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__Interrupt52 +) ? ABSOLUTE(__Interrupt52 +) : + ABSOLUTE(__DefaultInterrupt)); + LONG(DEFINED(__Interrupt53 +) ? ABSOLUTE(__Interrupt53 +) : + ABSOLUTE(__DefaultInterrupt)); + } >ivt + + +/* +** Alternate Interrupt Vector Table +*/ +.aivt __AIVT_BASE : + { + LONG(DEFINED(__AltReservedTrap0 +) ? ABSOLUTE(__AltReservedTrap0 +) : + (DEFINED(__ReservedTrap0 +) ? ABSOLUTE(__ReservedTrap0 +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltOscillatorFail +)? ABSOLUTE(__AltOscillatorFail +): + (DEFINED(__OscillatorFail +) ? ABSOLUTE(__OscillatorFail +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltAddressError +) ? ABSOLUTE(__AltAddressError +) : + (DEFINED(__AddressError +) ? ABSOLUTE(__AddressError +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltStackError +) ? ABSOLUTE(__AltStackError +) : + (DEFINED(__StackError +) ? ABSOLUTE(__StackError +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltMathError +) ? ABSOLUTE(__AltMathError +) : + (DEFINED(__MathError +) ? ABSOLUTE(__MathError +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltReservedTrap5 +) ? ABSOLUTE(__AltReservedTrap5 +) : + (DEFINED(__ReservedTrap5 +) ? ABSOLUTE(__ReservedTrap5 +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltReservedTrap6 +) ? ABSOLUTE(__AltReservedTrap6 +) : + (DEFINED(__ReservedTrap6 +) ? ABSOLUTE(__ReservedTrap6 +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltReservedTrap7 +) ? ABSOLUTE(__AltReservedTrap7 +) : + (DEFINED(__ReservedTrap7 +) ? ABSOLUTE(__ReservedTrap7 +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltINT0Interrupt +) ? ABSOLUTE(__AltINT0Interrupt +) : + (DEFINED(__INT0Interrupt +) ? ABSOLUTE(__INT0Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltIC1Interrupt +) ? ABSOLUTE(__AltIC1Interrupt +) : + (DEFINED(__IC1Interrupt +) ? ABSOLUTE(__IC1Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltOC1Interrupt +) ? ABSOLUTE(__AltOC1Interrupt +) : + (DEFINED(__OC1Interrupt +) ? ABSOLUTE(__OC1Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltT1Interrupt +) ? ABSOLUTE(__AltT1Interrupt +) : + (DEFINED(__T1Interrupt +) ? ABSOLUTE(__T1Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltIC2Interrupt +) ? ABSOLUTE(__AltIC2Interrupt +) : + (DEFINED(__IC2Interrupt +) ? ABSOLUTE(__IC2Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltOC2Interrupt +) ? ABSOLUTE(__AltOC2Interrupt +) : + (DEFINED(__OC2Interrupt +) ? ABSOLUTE(__OC2Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltT2Interrupt +) ? ABSOLUTE(__AltT2Interrupt +) : + (DEFINED(__T2Interrupt +) ? ABSOLUTE(__T2Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltT3Interrupt +) ? ABSOLUTE(__AltT3Interrupt +) : + (DEFINED(__T3Interrupt +) ? ABSOLUTE(__T3Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltSPI1Interrupt +) ? ABSOLUTE(__AltSPI1Interrupt +) : + (DEFINED(__SPI1Interrupt +) ? ABSOLUTE(__SPI1Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltU1RXInterrupt +) ? ABSOLUTE(__AltU1RXInterrupt +) : + (DEFINED(__U1RXInterrupt +) ? ABSOLUTE(__U1RXInterrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltU1TXInterrupt +) ? ABSOLUTE(__AltU1TXInterrupt +) : + (DEFINED(__U1TXInterrupt +) ? ABSOLUTE(__U1TXInterrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltADCInterrupt +) ? ABSOLUTE(__AltADCInterrupt +) : + (DEFINED(__ADCInterrupt +) ? ABSOLUTE(__ADCInterrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltNVMInterrupt +) ? ABSOLUTE(__AltNVMInterrupt +) : + (DEFINED(__NVMInterrupt +) ? ABSOLUTE(__NVMInterrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltSI2CInterrupt +) ? ABSOLUTE(__AltSI2CInterrupt +) : + (DEFINED(__SI2CInterrupt +) ? ABSOLUTE(__SI2CInterrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltMI2CInterrupt +) ? ABSOLUTE(__AltMI2CInterrupt +) : + (DEFINED(__MI2CInterrupt +) ? ABSOLUTE(__MI2CInterrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltCNInterrupt +) ? ABSOLUTE(__AltCNInterrupt +) : + (DEFINED(__CNInterrupt +) ? ABSOLUTE(__CNInterrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltINT1Interrupt +) ? ABSOLUTE(__AltINT1Interrupt +) : + (DEFINED(__INT1Interrupt +) ? ABSOLUTE(__INT1Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltIC7Interrupt +) ? ABSOLUTE(__AltIC7Interrupt +) : + (DEFINED(__IC7Interrupt +) ? ABSOLUTE(__IC7Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltIC8Interrupt +) ? ABSOLUTE(__AltIC8Interrupt +) : + (DEFINED(__IC8Interrupt +) ? ABSOLUTE(__IC8Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltOC3Interrupt +) ? ABSOLUTE(__AltOC3Interrupt +) : + (DEFINED(__OC3Interrupt +) ? ABSOLUTE(__OC3Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltOC4Interrupt +) ? ABSOLUTE(__AltOC4Interrupt +) : + (DEFINED(__OC4Interrupt +) ? ABSOLUTE(__OC4Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltT4Interrupt +) ? ABSOLUTE(__AltT4Interrupt +) : + (DEFINED(__T4Interrupt +) ? ABSOLUTE(__T4Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltT5Interrupt +) ? ABSOLUTE(__AltT5Interrupt +) : + (DEFINED(__T5Interrupt +) ? ABSOLUTE(__T5Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltINT2Interrupt +) ? ABSOLUTE(__AltINT2Interrupt +) : + (DEFINED(__INT2Interrupt +) ? ABSOLUTE(__INT2Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltU2RXInterrupt +) ? ABSOLUTE(__AltU2RXInterrupt +) : + (DEFINED(__U2RXInterrupt +) ? ABSOLUTE(__U2RXInterrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltU2TXInterrupt +) ? ABSOLUTE(__AltU2TXInterrupt +) : + (DEFINED(__U2TXInterrupt +) ? ABSOLUTE(__U2TXInterrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltSPI2Interrupt +) ? ABSOLUTE(__AltSPI2Interrupt +) : + (DEFINED(__SPI2Interrupt +) ? ABSOLUTE(__SPI2Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltC1Interrupt +) ? ABSOLUTE(__AltC1Interrupt +) : + (DEFINED(__C1Interrupt +) ? ABSOLUTE(__C1Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltIC3Interrupt +) ? ABSOLUTE(__AltIC3Interrupt +) : + (DEFINED(__IC3Interrupt +) ? ABSOLUTE(__IC3Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltIC4Interrupt +) ? ABSOLUTE(__AltIC4Interrupt +) : + (DEFINED(__IC4Interrupt +) ? ABSOLUTE(__IC4Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltIC5Interrupt +) ? ABSOLUTE(__AltIC5Interrupt +) : + (DEFINED(__IC5Interrupt +) ? ABSOLUTE(__IC5Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltIC6Interrupt +) ? ABSOLUTE(__AltIC6Interrupt +) : + (DEFINED(__IC6Interrupt +) ? ABSOLUTE(__IC6Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltOC5Interrupt +) ? ABSOLUTE(__AltOC5Interrupt +) : + (DEFINED(__OC5Interrupt +) ? ABSOLUTE(__OC5Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltOC6Interrupt +) ? ABSOLUTE(__AltOC6Interrupt +) : + (DEFINED(__OC6Interrupt +) ? ABSOLUTE(__OC6Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltOC7Interrupt +) ? ABSOLUTE(__AltOC7Interrupt +) : + (DEFINED(__OC7Interrupt +) ? ABSOLUTE(__OC7Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltOC8Interrupt +) ? ABSOLUTE(__AltOC8Interrupt +) : + (DEFINED(__OC8Interrupt +) ? ABSOLUTE(__OC8Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltINT3Interrupt +) ? ABSOLUTE(__AltINT3Interrupt +) : + (DEFINED(__INT3Interrupt +) ? ABSOLUTE(__INT3Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltINT4Interrupt +) ? ABSOLUTE(__AltINT4Interrupt +) : + (DEFINED(__INT4Interrupt +) ? ABSOLUTE(__INT4Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltC2Interrupt +) ? ABSOLUTE(__AltC2Interrupt +) : + (DEFINED(__C2Interrupt +) ? ABSOLUTE(__C2Interrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltPWMInterrupt +) ? ABSOLUTE(__AltPWMInterrupt +) : + (DEFINED(__PWMInterrupt +) ? ABSOLUTE(__PWMInterrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltQEIInterrupt +) ? ABSOLUTE(__AltQEIInterrupt +) : + (DEFINED(__QEIInterrupt +) ? ABSOLUTE(__QEIInterrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltDCIInterrupt +) ? ABSOLUTE(__AltDCIInterrupt +) : + (DEFINED(__DCIInterrupt +) ? ABSOLUTE(__DCIInterrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltLVDInterrupt +) ? ABSOLUTE(__AltLVDInterrupt +) : + (DEFINED(__LVDInterrupt +) ? ABSOLUTE(__LVDInterrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltFLTAInterrupt +) ? ABSOLUTE(__AltFLTAInterrupt +) : + (DEFINED(__FLTAInterrupt +) ? ABSOLUTE(__FLTAInterrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltFLTBInterrupt +) ? ABSOLUTE(__AltFLTBInterrupt +) : + (DEFINED(__FLTBInterrupt +) ? ABSOLUTE(__FLTBInterrupt +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltInterrupt45 +) ? ABSOLUTE(__AltInterrupt45 +) : + (DEFINED(__Interrupt45 +) ? ABSOLUTE(__Interrupt45 +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltInterrupt46 +) ? ABSOLUTE(__AltInterrupt46 +) : + (DEFINED(__Interrupt46 +) ? ABSOLUTE(__Interrupt46 +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltInterrupt47 +) ? ABSOLUTE(__AltInterrupt47 +) : + (DEFINED(__Interrupt47 +) ? ABSOLUTE(__Interrupt47 +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltInterrupt48 +) ? ABSOLUTE(__AltInterrupt48 +) : + (DEFINED(__Interrupt48 +) ? ABSOLUTE(__Interrupt48 +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltInterrupt49 +) ? ABSOLUTE(__AltInterrupt49 +) : + (DEFINED(__Interrupt49 +) ? ABSOLUTE(__Interrupt49 +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltInterrupt50 +) ? ABSOLUTE(__AltInterrupt50 +) : + (DEFINED(__Interrupt50 +) ? ABSOLUTE(__Interrupt50 +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltInterrupt51 +) ? ABSOLUTE(__AltInterrupt51 +) : + (DEFINED(__Interrupt51 +) ? ABSOLUTE(__Interrupt51 +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltInterrupt52 +) ? ABSOLUTE(__AltInterrupt52 +) : + (DEFINED(__Interrupt52 +) ? ABSOLUTE(__Interrupt52 +) : + ABSOLUTE(__DefaultInterrupt))); + LONG(DEFINED(__AltInterrupt53 +) ? ABSOLUTE(__AltInterrupt53 +) : + (DEFINED(__Interrupt53 +) ? ABSOLUTE(__Interrupt53 +) : + ABSOLUTE(__DefaultInterrupt))); + } >aivt + +} /* SECTIONS */ + + +/* File Description | Notes: +** ========================= +** 1] This file maps special function register(SFR) names used in the datasheet +** to memory locations in the PIC30Fxxxx device. The memory locations are +** byte addresses. The PIC30Fxxxx is a family of byte addressable devices. +** 2] The register names used in this file are taken to match the +** PIC30Fxxxx data sheets as closely as possible. +** 3] SFR address definitions are listed in the ascending order of memory +** addresses and are grouped based on the module they belong to. For e.g., +** WREG10 is listed before ACCAL, and the Core SFRs are grouped +** separately, prior to the Interrupt Controller SFRs or the General +** Purpose Timer SFRs. +** 4] SFR names exactly match names in the device specific C "header" file +** and the Assembly "include" file. Any changes to names in one of these +** files, calls for similar changes in the other two. +** +* Revision History: +** ================= +**------------------------------------------------------------------------- +**Rev: Date: Details: Who: +**------------------------------------------------------------------------- +**1.0 11/29/01 Device linker provides from superset h vasuki +**1.1 13 Dec 2001 Added PMD registers + some changes -do- +**1.2 02 Dec 2002 CAN buffer correction -do- +**1.3 13 Feb 2003 ADCSSLBits/ADPCFGBits Address correction -do- +**1.4 05 May 2003 Initial release of linker scripts for rev -do- +** B silicon with changes in CAN section +**1.6 25 Nov 2003 CAN2 SFR bytes additions h vasuki +**1.7 30 Jul 2004 ADCBUF0-ADCBUFF Address Correction h vasuki +**1.7a 17 Dec 2004 CAN TXERRCNT Address Correction h vasuki +** +**------------------------------------------------------------------------- +** +** +***************************************/ + + +/*========================================================================= +** Register Definitions +** (Core and Peripheral Registers in Data Space) +**========================================================================== +** +**========================================================================== +** +** dsPIC Core Register Definitions +** +**=========================================================================*/ + WREG0 = 0x0000; +_WREG0 = 0x0000; + WREG1 = 0x0002; +_WREG1 = 0x0002; + WREG2 = 0x0004; +_WREG2 = 0x0004; + WREG3 = 0x0006; +_WREG3 = 0x0006; + WREG4 = 0x0008; +_WREG4 = 0x0008; + WREG5 = 0x000A; +_WREG5 = 0x000A; + WREG6 = 0x000C; +_WREG6 = 0x000C; + WREG7 = 0x000E; +_WREG7 = 0x000E; + WREG8 = 0x0010; +_WREG8 = 0x0010; + WREG9 = 0x0012; +_WREG9 = 0x0012; + WREG10 = 0x0014; +_WREG10 = 0x0014; + WREG11 = 0x0016; +_WREG11 = 0x0016; + WREG12 = 0x0018; +_WREG12 = 0x0018; + WREG13 = 0x001A; +_WREG13 = 0x001A; + WREG14 = 0x001C; +_WREG14 = 0x001C; + WREG15 = 0x001E; +_WREG15 = 0x001E; + SPLIM = 0x0020; +_SPLIM = 0x0020; + ACCAL = 0x0022; +_ACCAL = 0x0022; + ACCAH = 0x0024; +_ACCAH = 0x0024; + ACCAU = 0x0026; +_ACCAU = 0x0026; + ACCBL = 0x0028; +_ACCBL = 0x0028; + ACCBH = 0x002A; +_ACCBH = 0x002A; + ACCBU = 0x002C; +_ACCBU = 0x002C; + PCL = 0x002E; +_PCL = 0x002E; + PCH = 0x0030; +_PCH = 0x0030; + TBLPAG = 0x0032; +_TBLPAG = 0x0032; + PSVPAG = 0x0034; +_PSVPAG = 0x0034; + RCOUNT = 0x0036; +_RCOUNT = 0x0036; + DCOUNT = 0x0038; +_DCOUNT = 0x0038; + DOSTARTL = 0x003A; +_DOSTARTL = 0x003A; + DOSTARTH = 0x003C; +_DOSTARTH = 0x003C; + DOENDL = 0x003E; +_DOENDL = 0x003E; + DOENDH = 0x0040; +_DOENDH = 0x0040; + SR = 0x0042; +_SR = 0x0042; + CORCON = 0x0044; +_CORCON = 0x0044; + MODCON = 0x0046; +_MODCON = 0x0046; + XMODSRT = 0x0048; +_XMODSRT = 0x0048; + XMODEND = 0x004A; +_XMODEND = 0x004A; + YMODSRT = 0x004C; +_YMODSRT = 0x004C; + YMODEND = 0x004E; +_YMODEND = 0x004E; + XBREV = 0x0050; +_XBREV = 0x0050; + DISICNT = 0x0052; +_DISICNT = 0x0052; + + + +/*========================================================================== +** +** Interrupt Controller Register Definitions +** +==========================================================================*/ + INTCON1 = 0x0080; +_INTCON1 = 0x0080; + INTCON2 = 0x0082; +_INTCON2 = 0x0082; + IFS0 = 0x0084; +_IFS0 = 0x0084; + IFS1 = 0x0086; +_IFS1 = 0x0086; + IFS2 = 0x0088; +_IFS2 = 0x0088; + IEC0 = 0x008C; +_IEC0 = 0x008C; + IEC1 = 0x008E; +_IEC1 = 0x008E; + IEC2 = 0x0090; +_IEC2 = 0x0090; + IPC0 = 0x0094; +_IPC0 = 0x0094; + IPC1 = 0x0096; +_IPC1 = 0x0096; + IPC2 = 0x0098; +_IPC2 = 0x0098; + IPC3 = 0x009A; +_IPC3 = 0x009A; + IPC4 = 0x009C; +_IPC4 = 0x009C; + IPC5 = 0x009E; +_IPC5 = 0x009E; + IPC6 = 0x00A0; +_IPC6 = 0x00A0; + IPC9 = 0x00A6; +_IPC9 = 0x00A6; + IPC10 = 0x00A8; +_IPC10 = 0x00A8; + + + +/*========================================================================== +** +** Input Change Notification Module Register Definitions +** +===========================================================================*/ + CNEN1 = 0x00C0; +_CNEN1 = 0x00C0; + CNPU1 = 0x00C4; +_CNPU1 = 0x00C4; + + + +/*========================================================================= +** +** Peripheral Register Definitions +** +===========================================================================*/ +/*========================================================================= +** +** Timer Module Register Definitions +** +===========================================================================*/ +/*--------------Timer 1 Module---------------------------------------------*/ + TMR1 = 0x0100; +_TMR1 = 0x0100; + PR1 = 0x0102; +_PR1 = 0x0102; + T1CON = 0x0104; +_T1CON = 0x0104; + +/*--------------Timer2/3 Module--------------------------------------------*/ + TMR2 = 0x0106; +_TMR2 = 0x0106; + TMR3HLD = 0x0108; +_TMR3HLD = 0x0108; + TMR3 = 0x010A; +_TMR3 = 0x010A; + PR2 = 0x010C; +_PR2 = 0x010C; + PR3 = 0x010E; +_PR3 = 0x010E; + T2CON = 0x0110; +_T2CON = 0x0110; + T3CON = 0x0112; +_T3CON = 0x0112; + +/*------------- Timer4/5 Module---------------------------------------------*/ + TMR4 = 0x0114; +_TMR4 = 0x0114; + TMR5HLD = 0x0116; +_TMR5HLD = 0x0116; + TMR5 = 0x0118; +_TMR5 = 0x0118; + PR4 = 0x011A; +_PR4 = 0x011A; + PR5 = 0x011C; +_PR5 = 0x011C; + T4CON = 0x011E; +_T4CON = 0x011E; + T5CON = 0x0120; +_T5CON = 0x0120; + +/*========================================================================= +** +** Quadrature Encoder Interface Module Register Definitions +** +=========================================================================*/ + QEICON = 0x0122; +_QEICON = 0x0122; + DFLTCON = 0x0124; +_DFLTCON = 0x0124; + POSCNT = 0x0126; +_POSCNT = 0x0126; + MAXCNT = 0x0128; +_MAXCNT = 0x0128; + + +/*========================================================================= +** +** Input Capture Module Register Definitions +** +=========================================================================*/ + IC1BUF = 0x0140; +_IC1BUF = 0x0140; + IC1CON = 0x0142; +_IC1CON = 0x0142; + IC2BUF = 0x0144; +_IC2BUF = 0x0144; + IC2CON = 0x0146; +_IC2CON = 0x0146; + IC7BUF = 0x0158; +_IC7BUF = 0x0158; + IC7CON = 0x015A; +_IC7CON = 0x015A; + IC8BUF = 0x015C; +_IC8BUF = 0x015C; + IC8CON = 0x015E; +_IC8CON = 0x015E; + + + +/*========================================================================== +** +** Output Compare Module Register Definitions +** +===========================================================================*/ + OC1RS = 0x0180; +_OC1RS = 0x0180; + OC1R = 0x0182; +_OC1R = 0x0182; + OC1CON = 0x0184; +_OC1CON = 0x0184; + OC2RS = 0x0186; +_OC2RS = 0x0186; + OC2R = 0x0188; +_OC2R = 0x0188; + OC2CON = 0x018A; +_OC2CON = 0x018A; + + +/*========================================================================= +** +** Motor Control PWM Module Register Definitions +** +=========================================================================*/ + PTCON = 0x01C0; +_PTCON = 0x01C0; + PTMR = 0x01C2; +_PTMR = 0x01C2; + PTPER = 0x01C4; +_PTPER = 0x01C4; + SEVTCMP = 0x01C6; +_SEVTCMP = 0x01C6; + PWMCON1 = 0x01C8; +_PWMCON1 = 0x01C8; + PWMCON2 = 0x01CA; +_PWMCON2 = 0x01CA; + DTCON1 = 0x01CC; +_DTCON1 = 0x01CC; + FLTACON = 0x01D0; +_FLTACON = 0x01D0; + OVDCON = 0x01D4; +_OVDCON = 0x01D4; + PDC1 = 0x01D6; +_PDC1 = 0x01D6; + PDC2 = 0x01D8; +_PDC2 = 0x01D8; + PDC3 = 0x01DA; +_PDC3 = 0x01DA; + + + +/*========================================================================= +** +** Inter-Integrated Circuit(I2C) Module Register Definitions +** +==========================================================================*/ + I2CRCV = 0x0200; +_I2CRCV = 0x0200; + I2CTRN = 0x0202; +_I2CTRN = 0x0202; + I2CBRG = 0x0204; +_I2CBRG = 0x0204; + I2CCON = 0x0206; +_I2CCON = 0x0206; + I2CSTAT = 0x0208; +_I2CSTAT = 0x0208; + I2CADD = 0x020A; +_I2CADD = 0x020A; + +/*========================================================================== +** +** Universal Asynchronous Receiver TransmitterUART Module +** Register Definitions +** +==========================================================================*/ +/*------------------UART 1 Module-----------------------------------------*/ + U1MODE = 0x020C; +_U1MODE = 0x020C; + U1STA = 0x020E; +_U1STA = 0x020E; + U1TXREG = 0x0210; +_U1TXREG = 0x0210; + U1RXREG = 0x0212; +_U1RXREG = 0x0212; + U1BRG = 0x0214; +_U1BRG = 0x0214; + + +/*========================================================================== +** +** Serial Peripheral Interface(SPI) Module Register Definitions +** +==========================================================================*/ +/*-----------------SPI 1 Module-------------------------------------------*/ + SPI1STAT = 0x0220; +_SPI1STAT = 0x0220; + SPI1CON = 0x0222; +_SPI1CON = 0x0222; + SPI1BUF = 0x0224; +_SPI1BUF = 0x0224; + + + +/*========================================================================== +** +** 10-bit A/D Converter 500 Ksps Module Register Definitions +** +==========================================================================*/ + ADCBUF0 = 0x0280; +_ADCBUF0 = 0x0280; + ADCBUF1 = 0x0282; +_ADCBUF1 = 0x0282; + ADCBUF2 = 0x0284; +_ADCBUF2 = 0x0284; + ADCBUF3 = 0x0286; +_ADCBUF3 = 0x0286; + ADCBUF4 = 0x0288; +_ADCBUF4 = 0x0288; + ADCBUF5 = 0x028A; +_ADCBUF5 = 0x028A; + ADCBUF6 = 0x028C; +_ADCBUF6 = 0x028C; + ADCBUF7 = 0x028E; +_ADCBUF7 = 0x028E; + ADCBUF8 = 0x0290; +_ADCBUF8 = 0x0290; + ADCBUF9 = 0x0292; +_ADCBUF9 = 0x0292; + ADCBUFA = 0x0294; +_ADCBUFA = 0x0294; + ADCBUFB = 0x0296; +_ADCBUFB = 0x0296; + ADCBUFC = 0x0298; +_ADCBUFC = 0x0298; + ADCBUFD = 0x029A; +_ADCBUFD = 0x029A; + ADCBUFE = 0x029C; +_ADCBUFE = 0x029C; + ADCBUFF = 0x029E; +_ADCBUFF = 0x029E; + ADCON1 = 0x02A0; +_ADCON1 = 0x02A0; + ADCON2 = 0x02A2; +_ADCON2 = 0x02A2; + ADCON3 = 0x02A4; +_ADCON3 = 0x02A4; + ADCHS = 0x02A6; +_ADCHS = 0x02A6; + ADPCFG = 0x02A8; +_ADPCFG = 0x02A8; + ADCSSL = 0x02AA; +_ADCSSL = 0x02AA; + +/*========================================================================== +** +** General Purpose I/O Port Register Definitions +** +==========================================================================*/ + TRISB = 0x02C6; +_TRISB = 0x02C6; + PORTB = 0x02C8; +_PORTB = 0x02C8; + LATB = 0x02CA; +_LATB = 0x02CA; + + TRISC = 0x02CC; +_TRISC = 0x02CC; + PORTC = 0x02CE; +_PORTC = 0x02CE; + LATC = 0x02D0; +_LATC = 0x02D0; + + TRISD = 0x02D2; +_TRISD = 0x02D2; + PORTD = 0x02D4; +_PORTD = 0x02D4; + LATD = 0x02D6; +_LATD = 0x02D6; + + TRISE = 0x02D8; +_TRISE = 0x02D8; + PORTE = 0x02DA; +_PORTE = 0x02DA; + LATE = 0x02DC; +_LATE = 0x02DC; + + TRISF = 0x02DE; + +_TRISF = 0x02DE; + PORTF = 0x02E0; +_PORTF = 0x02E0; + LATF = 0x02E2; +_LATF = 0x02E2; + + + +/*========================================================================== +** +** Controller Area Network Module Register Definitions +** (for CAN Modules 1 and 2) +==========================================================================*/ + +/*========================================================================== +** +** CAN1 register definitions +** +==========================================================================*/ +C1RXF0SID = 0x0300; +_C1RXF0SID = 0x0300; +C1RXF0EIDH = 0x0302; +_C1RXF0EIDH = 0x0302; +C1RXF0EIDL = 0x0304; +_C1RXF0EIDL = 0x0304; +C1RXF1SID = 0x0308; +_C1RXF1SID = 0x0308; +C1RXF1EIDH = 0x030A; +_C1RXF1EIDH = 0x030A; +C1RXF1EIDL = 0x030C; +_C1RXF1EIDL = 0x030C; +C1RXF2SID = 0x0310; +_C1RXF2SID = 0x0310; +C1RXF2EIDH = 0x0312; +_C1RXF2EIDH = 0x0312; +C1RXF2EIDL = 0x0314; +_C1RXF2EIDL = 0x0314; +C1RXF3SID = 0x0318; +_C1RXF3SID = 0x0318; +C1RXF3EIDH = 0x031A; +_C1RXF3EIDH = 0x031A; +C1RXF3EIDL = 0x031C; +_C1RXF3EIDL = 0x031C; +C1RXF4SID = 0x0320; +_C1RXF4SID = 0x0320; +C1RXF4EIDH = 0x0322; +_C1RXF4EIDH = 0x0322; +C1RXF4EIDL = 0x0324; +_C1RXF4EIDL = 0x0324; +C1RXF5SID = 0x0328; +_C1RXF5SID = 0x0328; +C1RXF5EIDH = 0x032A; +_C1RXF5EIDH = 0x032A; +C1RXF5EIDL = 0x032C; +_C1RXF5EIDL = 0x032C; +C1RXM0SID = 0x0330; +_C1RXM0SID = 0x0330; +C1RXM0EIDH = 0x0332; +_C1RXM0EIDH = 0x0332; +C1RXM0EIDL = 0x0334; +_C1RXM0EIDL = 0x0334; +C1RXM1SID = 0x0338; +_C1RXM1SID = 0x0338; +C1RXM1EIDH = 0x033A; +_C1RXM1EIDH = 0x033A; +C1RXM1EIDL = 0x033C; +_C1RXM1EIDL = 0x033C; +C1TX2SID = 0x0340; +_C1TX2SID = 0x0340; +C1TX2EID = 0x0342; +_C1TX2EID = 0x0342; +C1TX2DLC = 0x0344; +_C1TX2DLC = 0x0344; +C1TX2B1 = 0x0346; +_C1TX2B1 = 0x0346; +C1TX2B2 = 0x0348; +_C1TX2B2 = 0x0348; +C1TX2B3 = 0x034A; +_C1TX2B3 = 0x034A; +C1TX2B4 = 0x034C; +_C1TX2B4 = 0x034C; +C1TX2CON = 0x034E; +_C1TX2CON = 0x034E; +C1TX1SID = 0x0350; +_C1TX1SID = 0x0350; +C1TX1EID = 0x0352; +_C1TX1EID = 0x0352; +C1TX1DLC = 0x0354; +_C1TX1DLC = 0x0354; +C1TX1B1 = 0x0356; +_C1TX1B1 = 0x0356; +C1TX1B2 = 0x0358; +_C1TX1B2 = 0x0358; +C1TX1B3 = 0x035A; +_C1TX1B3 = 0x035A; +C1TX1B4 = 0x035C; +_C1TX1B4 = 0x035C; +C1TX1CON = 0x035E; +_C1TX1CON = 0x035E; +C1TX0SID = 0x0360; +_C1TX0SID = 0x0360; +C1TX0EID = 0x0362; +_C1TX0EID = 0x0362; +C1TX0DLC = 0x0364; +_C1TX0DLC = 0x0364; +C1TX0B1 = 0x0366; +_C1TX0B1 = 0x0366; +C1TX0B2 = 0x0368; +_C1TX0B2 = 0x0368; +C1TX0B3 = 0x036A; +_C1TX0B3 = 0x036A; +C1TX0B4 = 0x036C; +_C1TX0B4 = 0x036C; +C1TX0CON = 0x036E; +_C1TX0CON = 0x036E; +C1RX1SID = 0x0370; +_C1RX1SID = 0x0370; +C1RX1EID = 0x0372; +_C1RX1EID = 0x0372; +C1RX1DLC = 0x0374; +_C1RX1DLC = 0x0374; +C1RX1B1 = 0x0376; +_C1RX1B1 = 0x0376; +C1RX1B2 = 0x0378; +_C1RX1B2 = 0x0378; +C1RX1B3 = 0x037A; +_C1RX1B3 = 0x037A; +C1RX1B4 = 0x037C; +_C1RX1B4 = 0x037C; +C1RX1CON = 0x037E; +_C1RX1CON = 0x037E; +C1RX0SID = 0x0380; +_C1RX0SID = 0x0380; +C1RX0EID = 0x0382; +_C1RX0EID = 0x0382; +C1RX0DLC = 0x0384; +_C1RX0DLC = 0x0384; +C1RX0B1 = 0x0386; +_C1RX0B1 = 0x0386; +C1RX0B2 = 0x0388; +_C1RX0B2 = 0x0388; +C1RX0B3 = 0x038A; +_C1RX0B3 = 0x038A; +C1RX0B4 = 0x038C; +_C1RX0B4 = 0x038C; +C1RX0CON = 0x038E; +_C1RX0CON = 0x038E; +C1CTRL = 0x0390; +_C1CTRL = 0x0390; +C1CFG1 = 0x0392; +_C1CFG1 = 0x0392; +C1CFG2 = 0x0394; +_C1CFG2 = 0x0394; +C1INTF = 0x0396; +_C1INTF = 0x0396; +C1INTE = 0x0398; +_C1INTE = 0x0398; +C1EC = 0x039A; +_C1EC = 0x039A; +C1RERRCNT = 0x039A; +_C1RERRCNT = 0x039A; +C1TERRCNT = 0x039B; +_C1TERRCNT = 0x039B; + +/*========================================================================== +** +** System Integration Block Registers +** +==========================================================================*/ + RCON = 0x0740; +_RCON = 0x0740; + OSCCON = 0x0742; +_OSCCON = 0x0742; + +/*========================================================================== +** +** Non Volatile Memory Registers +** +==========================================================================*/ + NVMCON = 0x0760; +_NVMCON = 0x0760; + NVMADR = 0x0762; +_NVMADR = 0x0762; + NVMADRU = 0x0764; +_NVMADRU = 0x0764; + NVMKEY = 0x0766; +_NVMKEY = 0x0766; + +/*========================================================================== +** +** Peripheral Module Disable Registers +** +==========================================================================*/ + PMD1 = 0x0770; +_PMD1 = 0x0770; + PMD2 = 0x0772; +_PMD2 = 0x0772; + PMD3 = 0x0774; +_PMD3 = 0x0774; +/* +**End of SFR Definitions required for both C and Assembly files +*/ + + +/*========================================================================= +** +**Start of Additional SFR Definitions that are required specifically +**for the C header file. +** +==========================================================================*/ + ACCA = 0x0022; +_ACCA = 0x0022; + ACCB = 0x0028; +_ACCB = 0x0028; + SRbits = 0x0042; +_SRbits = 0x0042; + CORCONbits = 0x0044; +_CORCONbits = 0x0044; + MODCONbits = 0x0046; +_MODCONbits = 0x0046; + XBREVbits = 0x0050; +_XBREVbits = 0x0050; + DISICNTbits = 0x0052; +_DISICNTbits = 0x0052; + INTCON1bits = 0x0080; +_INTCON1bits = 0x0080; + INTCON2bits = 0x0082; +_INTCON2bits = 0x0082; + IFS0bits = 0x0084; +_IFS0bits = 0x0084; + IFS1bits = 0x0086; +_IFS1bits = 0x0086; + IFS2bits = 0x0088; +_IFS2bits = 0x0088; + IEC0bits = 0x008C; +_IEC0bits = 0x008C; + IEC1bits = 0x008E; +_IEC1bits = 0x008E; + IEC2bits = 0x0090; +_IEC2bits = 0x0090; + IPC0bits = 0x0094; +_IPC0bits = 0x0094; + IPC1bits = 0x0096; +_IPC1bits = 0x0096; + IPC2bits = 0x0098; +_IPC2bits = 0x0098; + IPC3bits = 0x009A; +_IPC3bits = 0x009A; + IPC4bits = 0x009C; +_IPC4bits = 0x009C; + IPC5bits = 0x009E; +_IPC5bits = 0x009E; + IPC6bits = 0x00A0; +_IPC6bits = 0x00A0; + IPC9bits = 0x00A6; +_IPC9bits = 0x00A6; + IPC10bits = 0x00A8; +_IPC10bits = 0x00A8; + IPC11bits = 0x00AA; +_IPC11bits = 0x00AA; + CNEN1bits = 0x00C0; +_CNEN1bits = 0x00C0; + CNPU1bits = 0x00C4; +_CNPU1bits = 0x00C4; + T1CONbits = 0x0104; +_T1CONbits = 0x0104; + T2CONbits = 0x0110; +_T2CONbits = 0x0110; + T3CONbits = 0x0112; +_T3CONbits = 0x0112; + T4CONbits = 0x011E; +_T4CONbits = 0x011E; + T5CONbits = 0x0120; +_T5CONbits = 0x0120; + QEICONbits = 0x0122; +_QEICONbits = 0x0122; + DFLTCONbits = 0x0124; +_DFLTCONbits = 0x0124; + IC1CONbits = 0x0142; +_IC1CONbits = 0x0142; + IC2CONbits = 0x0146; +_IC2CONbits = 0x0146; + IC7CONbits = 0x015A; +_IC7CONbits = 0x015A; + IC8CONbits = 0x015E; +_IC8CONbits = 0x015E; + OC1CONbits = 0x0184; +_OC1CONbits = 0x0184; + OC2CONbits = 0x018A; +_OC2CONbits = 0x018A; + PTCONbits = 0x01C0; +_PTCONbits = 0x01C0; + PTMRbits = 0x01C2; +_PTMRbits = 0x01C2; + PTPERbits = 0x01C4; +_PTPERbits = 0x01C4; + SEVTCMPbits = 0x01C6; +_SEVTCMPbits = 0x01C6; + PWMCON1bits = 0x01C8; +_PWMCON1bits = 0x01C8; + PWMCON2bits = 0x01CA; +_PWMCON2bits = 0x01CA; + DTCON1bits = 0x01CC; +_DTCON1bits = 0x01CC; + FLTACONbits = 0x01D0; +_FLTACONbits = 0x01D0; + OVDCONbits = 0x01D4; +_OVDCONbits = 0x01D4; + I2CRCVbits = 0x0200; +_I2CRCVbits = 0x0200; + I2CTRNbits = 0x0202; +_I2CTRNbits = 0x0202; + I2CBRGbits = 0x0204; +_I2CBRGbits = 0x0204; + I2CCONbits = 0x0206; +_I2CCONbits = 0x0206; + I2CSTATbits = 0x0208; +_I2CSTATbits = 0x0208; + I2CADDbits = 0x020A; +_I2CADDbits = 0x020A; + U1MODEbits = 0x020C; +_U1MODEbits = 0x020C; + U1STAbits = 0x020E; +_U1STAbits = 0x020E; + U1TXREGbits = 0x0210; +_U1TXREGbits = 0x0210; + U1RXREGbits = 0x0212; +_U1RXREGbits = 0x0212; + SPI1STATbits = 0x0220; +_SPI1STATbits = 0x0220; + SPI1CONbits = 0x0222; +_SPI1CONbits = 0x0222; + ADCON1bits = 0x02A0; +_ADCON1bits = 0x02A0; + ADCON2bits = 0x02A2; +_ADCON2bits = 0x02A2; + ADCON3bits = 0x02A4; +_ADCON3bits = 0x02A4; + ADCHSbits = 0x02A6; +_ADCHSbits = 0x02A6; + ADPCFGbits = 0x02A8; +_ADPCFGbits = 0x02A8; + ADCSSLbits = 0x02AA; +_ADCSSLbits = 0x02AA; + TRISBbits = 0x02C6; +_TRISBbits = 0x02C6; + PORTBbits = 0x02C8; +_PORTBbits = 0x02C8; + LATBbits = 0x02CA; +_LATBbits = 0x02CA; + TRISCbits = 0x02CC; +_TRISCbits = 0x02CC; + PORTCbits = 0x02CE; +_PORTCbits = 0x02CE; + LATCbits = 0x02D0; +_LATCbits = 0x02D0; + TRISDbits = 0x02D2; +_TRISDbits = 0x02D2; + PORTDbits = 0x02D4; +_PORTDbits = 0x02D4; + LATDbits = 0x02D6; +_LATDbits = 0x02D6; + TRISEbits = 0x02D8; +_TRISEbits = 0x02D8; + PORTEbits = 0x02DA; +_PORTEbits = 0x02DA; + LATEbits = 0x02DC; +_LATEbits = 0x02DC; + TRISFbits = 0x02DE; +_TRISFbits = 0x02DE; + PORTFbits = 0x02E0; +_PORTFbits = 0x02E0; + + LATFbits = 0x02E2; +_LATFbits = 0x02E2; + C1RXF0SIDbits = 0x0300; +_C1RXF0SIDbits = 0x0300; + C1RXF0EIDHbits = 0x0302; +_C1RXF0EIDHbits = 0x0302; + C1RXF0EIDLbits = 0x0304; +_C1RXF0EIDLbits = 0x0304; + C1RXF1SIDbits = 0x0308; +_C1RXF1SIDbits = 0x0308; + C1RXF1EIDHbits = 0x030A; +_C1RXF1EIDHbits = 0x030A; + C1RXF1EIDLbits = 0x030C; +_C1RXF1EIDLbits = 0x030C; + C1RXF2SIDbits = 0x0310; +_C1RXF2SIDbits = 0x0310; + C1RXF2EIDHbits = 0x0312; +_C1RXF2EIDHbits = 0x0312; + C1RXF2EIDLbits = 0x0314; +_C1RXF2EIDLbits = 0x0314; + C1RXF3SIDbits = 0x0318; +_C1RXF3SIDbits = 0x0318; + C1RXF3EIDHbits = 0x031A; +_C1RXF3EIDHbits = 0x031A; + C1RXF3EIDLbits = 0x031C; +_C1RXF3EIDLbits = 0x031C; + C1RXF4SIDbits = 0x0320; +_C1RXF4SIDbits = 0x0320; + C1RXF4EIDHbits = 0x0322; +_C1RXF4EIDHbits = 0x0322; + C1RXF4EIDLbits = 0x0324; +_C1RXF4EIDLbits = 0x0324; + C1RXF5SIDbits = 0x0328; +_C1RXF5SIDbits = 0x0328; + C1RXF5EIDHbits = 0x032A; +_C1RXF5EIDHbits = 0x032A; + C1RXF5EIDLbits = 0x032C; +_C1RXF5EIDLbits = 0x032C; + C1RXM0SIDbits = 0x0330; +_C1RXM0SIDbits = 0x0330; + C1RXM0EIDHbits = 0x0332; +_C1RXM0EIDHbits = 0x0332; + C1RXM0EIDLbits = 0x0334; +_C1RXM0EIDLbits = 0x0334; + C1RXM1SIDbits = 0x0338; +_C1RXM1SIDbits = 0x0338; + C1RXM1EIDHbits = 0x033A; +_C1RXM1EIDHbits = 0x033A; + C1RXM1EIDLbits = 0x033C; +_C1RXM1EIDLbits = 0x033C; + C1TX2SIDbits = 0x0340; +_C1TX2SIDbits = 0x0340; + C1TX2EIDbits = 0x0342; +_C1TX2EIDbits = 0x0342; + C1TX2DLCbits = 0x0344; +_C1TX2DLCbits = 0x0344; + C1TX2B1bits = 0x0346; +_C1TX2B1bits = 0x0346; + C1TX2B2bits = 0x0348; +_C1TX2B2bits = 0x0348; + C1TX2B3bits = 0x034A; +_C1TX2B3bits = 0x034A; + C1TX2B4bits = 0x034C; +_C1TX2B4bits = 0x034C; + C1TX2CONbits = 0x034E; +_C1TX2CONbits = 0x034E; + C1TX1SIDbits = 0x0350; +_C1TX1SIDbits = 0x0350; + C1TX1EIDbits = 0x0352; +_C1TX1EIDbits = 0x0352; + C1TX1DLCbits = 0x0354; +_C1TX1DLCbits = 0x0354; + C1TX1B1bits = 0x0356; +_C1TX1B1bits = 0x0356; + C1TX1B2bits = 0x0358; +_C1TX1B2bits = 0x0358; + C1TX1B3bits = 0x035A; +_C1TX1B3bits = 0x035A; + C1TX1B4bits = 0x035C; +_C1TX1B4bits = 0x035C; + C1TX1CONbits = 0x035E; +_C1TX1CONbits = 0x035E; + C1TX0SIDbits = 0x0360; +_C1TX0SIDbits = 0x0360; + C1TX0EIDbits = 0x0362; +_C1TX0EIDbits = 0x0362; + C1TX0DLCbits = 0x0364; +_C1TX0DLCbits = 0x0364; + C1TX0B1bits = 0x0366; +_C1TX0B1bits = 0x0366; + C1TX0B2bits = 0x0368; +_C1TX0B2bits = 0x0368; + C1TX0B3bits = 0x036A; +_C1TX0B3bits = 0x036A; + C1TX0B4bits = 0x036C; +_C1TX0B4bits = 0x036C; + C1TX0CONbits = 0x036E; +_C1TX0CONbits = 0x036E; + C1RX1SIDbits = 0x0370; +_C1RX1SIDbits = 0x0370; + C1RX1EIDbits = 0x0372; +_C1RX1EIDbits = 0x0372; + C1RX1DLCbits = 0x0374; +_C1RX1DLCbits = 0x0374; + C1RX1B1bits = 0x0376; +_C1RX1B1bits = 0x0376; + C1RX1B2bits = 0x0378; +_C1RX1B2bits = 0x0378; + C1RX1B3bits = 0x037A; +_C1RX1B3bits = 0x037A; + C1RX1B4bits = 0x037C; +_C1RX1B4bits = 0x037C; + C1RX1CONbits = 0x037E; +_C1RX1CONbits = 0x037E; + C1RX0SIDbits = 0x0380; +_C1RX0SIDbits = 0x0380; + C1RX0EIDbits = 0x0382; +_C1RX0EIDbits = 0x0382; + C1RX0DLCbits = 0x0384; +_C1RX0DLCbits = 0x0384; + C1RX0B1bits = 0x0386; +_C1RX0B1bits = 0x0386; + C1RX0B2bits = 0x0388; +_C1RX0B2bits = 0x0388; + C1RX0B3bits = 0x038A; +_C1RX0B3bits = 0x038A; + C1RX0B4bits = 0x038C; +_C1RX0B4bits = 0x038C; + C1RX0CONbits = 0x038E; +_C1RX0CONbits = 0x038E; + C1CTRLbits = 0x0390; +_C1CTRLbits = 0x0390; + C1CFG1bits = 0x0392; +_C1CFG1bits = 0x0392; + C1CFG2bits = 0x0394; +_C1CFG2bits = 0x0394; + C1INTFbits = 0x0396; +_C1INTFbits = 0x0396; + C1INTEbits = 0x0398; +_C1INTEbits = 0x0398; + C1ECbits = 0x039A; +_C1ECbits = 0x039A; + + RCONbits = 0x0740; +_RCONbits = 0x0740; + OSCCONbits = 0x742; +_OSCCONbits = 0x742; + NVMCONbits = 0x0760; +_NVMCONbits = 0x0760; + PMD1bits = 0x0770; +_PMD1bits = 0x0770; + PMD2bits = 0x0772; +_PMD2bits = 0x0772; + PMD3bits = 0x0774; +_PMD3bits = 0x0774; +/* +**end of SFR definitions required for C header +*/ + +/* SFR base address definitions for various peripherals */ + + IC1 = 0x0140; +_IC1 = 0x0140; + IC2 = 0x0144; +_IC2 = 0x0144; + IC3 = 0x0148; +_IC3 = 0x0148; + IC4 = 0x014C; +_IC4 = 0x014C; + + OC1 = 0x0180; +_OC1 = 0x0180; + OC2 = 0x0186; +_OC2 = 0x0186; + + UART1 = 0x020C; +_UART1 = 0x020C; + + SPI1 = 0x0220; +_SPI1 = 0x0220; + + CAN1 = 0x0300; +_CAN1 = 0x0300; + +/*========================================================================= +**end of SFR definitions required in Data Space +*========================================================================*/ + diff --git a/include/aic.h b/include/aic.h deleted file mode 100644 index 653f97b..0000000 --- a/include/aic.h +++ /dev/null @@ -1,274 +0,0 @@ -/****************************************************************************** - Actuator Interface Card - Host Interface Library - - Copyright (C) 2003..2007 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#ifndef _AIC_H -#define _AIC_H - -/** @file aic.h - Host Interface Library - @author Walter Fetter Lages -*/ - -/** @defgroup aichost AIC Host Interface -@{ -*/ - -/** Encapsulates functions used to provide communication between host and AIC -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -*/ -class AIC_COMM -{ - public: - -/** Sends a command and its arguments to AIC -* @param command Code of the command to send to AIC -* @param ... Command arguments -* @see AIC_COMMAND -*/ - virtual void send_command(int command,...)=0; - -/** Receives a status message from AIC -* @param status Code of the status sent by AIC -* @param ... Pointers to status arguments -* @see AIC_COMMAND -*/ - virtual int get_status(int status,...)=0; - -/** Finalizes an AIC_COMM -*/ - virtual ~AIC_COMM(void) {}; - -/** Thrown by AIC errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD { }; - -/** Thrown by AIC command errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -*/ - class BAD_COMMAND: public BAD { }; - -/** Thrown by AIC send errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -*/ - class BAD_SEND: public BAD { }; - -/** Thrown by AIC receive errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -*/ - class BAD_RECEIVE: public BAD { }; - -}; - -/** Provices access to the motor driver in an Actuator Interface Card -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -*/ -class AIC_MOTOR -{ -/** Communication channel -*/ - AIC_COMM *port; - - public: - -/** Initializes the motor driver -* @param comm pointer to AIC_COMM object implementing the communication channel -*/ - AIC_MOTOR(AIC_COMM *comm); - -/** Turns the motor driver on -*/ - void on(void); - -/** Turns the motor driver off -*/ - void off(void); - -/** Sets the voltage to be applied by the motor driver -* @param voltage to be applied by the motor driver -* @return the duty-cycle of the associated PWM -*/ - double operator=(double voltage); -}; - -/** Provides access to incremental encoder in an Actuator Interface Card -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -*/ -class AIC_ENCODER -{ -/** Communication channel -*/ - AIC_COMM *port; - - public: - -/** Initializes encoder, clears the counter on the quadrature decoder chip -* @param comm pointer to AIC_COMM object implementing the communication channel -*/ - AIC_ENCODER(AIC_COMM *comm); - -/** Reads the displacement of encoder in radians -* @return the displacement in radians since the last time -* the encoder was read -*/ - double read(void); - -/** Reads the displacement of encoder in radians and the status of the sync-switch -* @param index pointer to an int where the sync-switch status is returned -* @return the displacement in radians since the last time -* the encoder was read -*/ - double read(int *index); -}; - -/** Provides access to electromagnetic brake in an Actuator Interface Card -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -*/ -class AIC_BRAKE -{ -/** Communication channel -*/ - AIC_COMM *port; - - public: - -/** Initializes brake -* @param comm pointer to AIC_COMM object implementing the communication channel -*/ - AIC_BRAKE(AIC_COMM *comm); - -/** Applies the electromagnetic brake -*/ - void apply(void); - -/** Releases the electromagnetic brake -*/ - void release(void); -}; - - -/** Provides access to sync-switch in an Actuator Interface Card -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -*/ -class AIC_INDEX -{ -/** Communication channel -*/ - AIC_COMM *port; - - public: - -/** Initializes index -* @param comm pointer to AIC_COMM object implementing the communication channel -*/ - AIC_INDEX(AIC_COMM *comm); - -/** Reads the sync-switch -* @return the sync-switch state -*/ - int read(void); - -/** Reads the sync-switch and the encoder displacement in radians -* @param disp pointer to a double where encoder displacement is returned -* @return the sync-switch state -*/ - int read(double *disp); -}; - -/** Provides access to all devices in an Actuator Interface Card -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.6.1 -*/ -class AIC -{ - AIC_COMM *port; - - public: - -/** Motor actuated by AIC -*/ - AIC_MOTOR motor; - -/** Encoder read by AIC -*/ - AIC_ENCODER encoder; - -/** Brake actuaded by AIC -*/ - AIC_BRAKE brake; - -/** Sync-switch read by AIC -*/ - AIC_INDEX index; - -/** Initializes an AIC -* @param comm pointer to AIC_COMM object implementing the communication channel -*/ - AIC(AIC_COMM *comm); - -/** Finalizes an AIC -*/ - virtual ~AIC(void) {}; - -/** Resets an AIC -* @since AIC-1.6.1 -*/ - void reset(void); - -/** Sets the reference for motor controller -* @param ref reference -* @since AIC-1.6.1 -*/ - void reference(double ref); - -/** Gets AIC busy status -* @return 1 if AIC is busy, 0 otherwise -* @since AIC-1.6.1 -* @see AIC_STATUS -*/ - int busy(void); - -/** Sends a command and its arguments to AIC -* @param command Code of the command to send to AIC -* @param n size of argument buffer -* @param buffer pointer to arguments -* @see AIC_COMMAND -*/ - void send_command(int command,int n,const void *buffer); - -}; - -/** -@} -*/ -#endif diff --git a/include/aiccan.h b/include/aiccan.h deleted file mode 100644 index 0cf872f..0000000 --- a/include/aiccan.h +++ /dev/null @@ -1,129 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Host Interface Library - CAN Communication - Copyright (C) 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#ifndef _AICCAN_H -#define _AICCAN_H - -#include - -#include - -/** @file aiccan.h - CAN Communication - @author Walter Fetter Lages -*/ - -/** @addtogroup aichost -@{ -*/ - - - -/** Implements a CAN communication channel -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -*/ -class AIC_CAN:public AIC_COMM, public AIC -{ - /// AIC CAN identification mask - const static int AIC_ID_MASK=0x01f; ///< AIC CAN identification mask - - const static int AIC_CMD_MASK=0x7e0; ///< AIC CAN command mask - - canHandle handle; ///< Handle to a CAN channel - int aicnumber; ///< Number of aic to communicate - - public: - -/** Creates a CAN channel to AIC -* @param aic number of aic to be connected to -* @param bus CAN bus to use -*/ - AIC_CAN(int aic,int bus=0); - -/** Closes the CAN channel -*/ - virtual ~AIC_CAN(void); - -/** Sends a command and its arguments to AIC -* @param command Code of the command to send to AIC -* @param ... Command arguments -* @see AIC_COMMAND -*/ - void send_command(int command,...); - -/** Receives a status message from AIC -* @param status Code of the status sent by AIC -* @param ... Pointers to status arguments -* @see AIC_COMMAND -*/ - int get_status(int status,...); - -/** Thrown by AIC_CAN errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD:public AIC_COMM::BAD { }; - -/** Thrown by AIC_CAN open errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_OPEN:public BAD { }; - -/** Thrown by AIC_CAN parameters errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_PARMS:public BAD { }; - -/** Thrown by AIC_CAN bus on errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_BUSON:public BAD { }; - -/** Thrown by AIC_CAN close errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_CLOSE:public BAD { }; - -/** Thrown by AIC_CAN send errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_SEND:public BAD,AIC_COMM::BAD_SEND { }; - -/** Thrown by AIC_CAN receive errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_RECEIVE:public BAD,AIC_COMM::BAD_RECEIVE { }; - -/** Thrown by AIC_CAN command errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_COMMAND:public BAD,AIC_COMM::BAD_COMMAND { }; -}; - -/** -@} -*/ -#endif diff --git a/include/aichost.h b/include/aichost.h deleted file mode 100644 index dc11753..0000000 --- a/include/aichost.h +++ /dev/null @@ -1,120 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Host Interface Simulation - Copyright (C) 2003, 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#ifndef _AICHOST_H -#define _AICHOST_H - -#include - -/** @file aichost.h - AIC Host Interface Simulator - @author Walter Fetter Lages -*/ - -/** @addtogroup aicsim -@{ -*/ - -/** Encapsulates functions used to provide communication between AIC simulator and host -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.5.0 -*/ -class AIC_HOST -{ - - protected: - - double u; ///< Motor voltage - double ref; ///< Controller reference - int status; ///< Current Status - - public: - -/** AIC simulator status -*/ - enum STATUS - { - MOTOR_ON = 1, ///< Motor is on - BRAKE_APPLIED = 2 ///< Brake is applied - }; - -/** Initializes AIC simulator communication -*/ - AIC_HOST(void); - -/** Closes AIC simulator communication -*/ - virtual ~AIC_HOST(void); - -/** Gets the command code received from host -* @return command code -* @see AIC_COMMAND -*/ - virtual int command(void)=0; - -/** Gets the status from AIC simulator -* @return status code -* @see STATUS -*/ - int getstatus(void) const; - -/** Send AIC simulator motor displacement and sync-switch status to host -* @param disp motor displacement in radians -* @param index sync-switch index -*/ - virtual void send_status(double disp,int index)=0; - -/** Gets the voltage to be applied to motor received with the last command -* @return voltage -*/ - double voltage(void) const; - -/** Gets the reference for Controller associtated to motor received with the last command -* @return reference -* @since AIC-1.6.0 -*/ - double reference(void) const; - -/** Thrown by AIC_HOST errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD { }; - -/** Thrown by AIC_HOST send errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_SEND: public BAD { }; - -/** Thrown by AIC_HOST receive errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_RECEIVE: public BAD { }; -}; - -/** -@} -*/ - -#endif diff --git a/include/aichostcan.h b/include/aichostcan.h deleted file mode 100644 index 1a929c3..0000000 --- a/include/aichostcan.h +++ /dev/null @@ -1,121 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Host Interface Simulation - CAN Communication - Copyright (C) 2003, 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#ifndef _AICHOSTCAN_H -#define _AICHOSTCAN_H - -#include - -#include - -/** @file aichostcan.h - AIC Simulator CAN Communication - @author Walter Fetter Lages -*/ - -/** @addtogroup aicsim -@{ -*/ - -/** Provides CAN communication between AIC simulator and host -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -*/ -class AIC_HOST_CAN:public AIC_HOST -{ - const static int AIC_ID_MASK=0x01f; ///< AIC CAN identification mask - - const static int AIC_CMD_MASK=0x7e0; ///< AIC CAN command mask - - canHandle handle; ///< Handle to a CAN channel - int aicnumber; ///< Number of aic to communicate - - public: - -/** Creates a CAN channel to host -* @param aicid number of aic connecting to host -* @param bus CAN bus to use -*/ - AIC_HOST_CAN(int aicid,int bus=0); - -/** Closes the CAN channel -*/ - ~AIC_HOST_CAN(void); - -/** Gets the command code received from host -* @return command code -* @see AIC_COMMAND -*/ - int command(void); - -/** Send AIC simulator motor displacement and sync-switch status to host -* @param disp motor displacement in radians -* @param index sync-switch index -*/ - void send_status(double disp,int index); - - -/** Thrown by AIC_HOST_CAN errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD:public AIC_HOST::BAD { }; - -/** Thrown by AIC_HOST_CAN open errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_OPEN:public BAD { }; - -/** Thrown by AIC_HOST_CAN parameters errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_PARMS:public BAD { }; - -/** Thrown by AIC_HOST_CAN bus on errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_BUSON:public BAD { }; - -/** Thrown by AIC_HOST_CAN close errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_CLOSE:public BAD { }; - -/** Thrown by AIC_HOST_CAN send errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_SEND:public BAD,AIC_HOST::BAD_SEND { }; - -/** Thrown by AIC_HOST_CAN receive errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_RECEIVE:public BAD,AIC_HOST::BAD_RECEIVE { }; - -}; - -/** -@} -*/ -#endif diff --git a/include/aichostudp.h b/include/aichostudp.h deleted file mode 100644 index dfca3ac..0000000 --- a/include/aichostudp.h +++ /dev/null @@ -1,108 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Host Interface Simulation - UDP Communication - Copyright (C) 2003, 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#ifndef _AICHOSTUDP_H -#define _AICHOSTUDP_H - -#include - -#include -#include - -/** @file aichostudp.h - AIC Simulator UDP Communication - @author Walter Fetter Lages -*/ - -/** @addtogroup aicsim -@{ -*/ - -/** Provides UDP communication between AIC simulator and host -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -*/ -class AIC_HOST_UDP:public AIC_HOST -{ - /// socket for receiving command - struct sockaddr_in cmdaddr; - - /// file descriptor for socket command - int cmdfd; - - /// socket for transmitting status signal - struct sockaddr_in statusaddr; - - /// file descriptor for status socket - int statusfd; - - public: - -/** Initializes AIC simulator UDP communication - @param controllername pointer to a string with the name of controller host - @param statusport UDP port to send status to - @param cmdport UDP port to bind to receive commands - @see aicnet.h -*/ - AIC_HOST_UDP(const char *controllername,int statusport=STATUS_PORT,int cmdport=CMD_PORT); - -/** Closes AIC simulator UDP communication -*/ - ~AIC_HOST_UDP(void); - -/** Gets the command code received from host -* @return command code -* @see AIC_COMMAND -*/ - int command(void); - -/** Send AIC simulator motor displacement and sync-switch status to host -* @param disp motor displacement in radians -* @param index sync-switch index -*/ - void send_status(double disp,int index); - -/** Thrown by AIC_HOST_UDP errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD: public AIC_HOST::BAD { }; - -/** Thrown by AIC_HOST_UDP socket errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_SOCKET: public BAD { }; - - -/** Thrown by AIC_HOST_UDP bind errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_BIND: public BAD { }; -}; - -/** -@} -*/ -#endif diff --git a/include/aicio.h b/include/aicio.h deleted file mode 100644 index ef77c1a..0000000 --- a/include/aicio.h +++ /dev/null @@ -1,265 +0,0 @@ -/****************************************************************************** - Actuator Interface Card - I/O Interface Library - - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#ifndef _AICIO_H -#define _AICIO_H - -/** @file aicio.h -* I/O Interface Library -* @author Walter Fetter Lages -* @since AIC-1.4.2 -*/ - -/** @defgroup aicio AIC I/O Interface -@{ -*/ - -/** Reference frequency = 10MHz -*/ -#define REF_FREQ 10e6 - -/** Default Switching Frequency = 20KHz -*/ -#define SW_FREQ 20e3 - -/** H-bridge turn-off delay -*/ -#define TURNOFF_DELAY 600e-9 - -/** PWM minimal count value -*/ -#define MIN_COUNT (unsigned int)(2*TURNOFF_DELAY*REF_FREQ) - -/** PWM maximal count value -*/ -#define MAX_COUNT (unsigned int)(REF_FREQ/SW_FREQ) - -/** Initializes brake -* @param base Base address for on board devices -* @since AIC-1.4.2 -*/ -extern void brake_initialize(unsigned long base); - -/** Applies the electromagnetic brake -* @since AIC-1.4.2 -*/ -extern void brake_apply(void); - -/** Releases the electromagnetic brake -* @since AIC-1.4.2 -*/ -extern void brake_release(void); - -/** Initializes Index -* @param base Base address for on board devices -* @since AIC-1.4.2 -*/ -extern void index_initialize(unsigned long base); - -/** Reads the sync-switch -* @return the sync-switch state -* @since AIC-1.4.2 -*/ -extern unsigned long index_read(void); - -/** Sets the frequency of PWM in cycles of 10MHz -* @param count number of cycles from 10 to 65530. Default -* value is 500 -* @since AIC-1.4.2 -*/ -extern void pwm_set_count(unsigned int count); - -/** Sets the frequency of PWM -* @param frequency frequency in Hz from 152.60Hz to 1MHz. Default -* value is 20KHz -* @since AIC-1.4.2 -*/ -extern void pwm_set_freq(float frequency); - -/** Returns the frequency of PWM -* @return PWM frequency in Hz -* @since AIC-1.4.2 -*/ -extern float pwm_get_freq(void); - -/** PWM initialization -* @param base Base address for on board devices -* @param min_count MIN_COUNT -* @param count frequency of PWM in cycles of 10MHz. Number of cycles -* from 10 to 65530. -* @since AIC-1.4.2 -*/ -extern void pwm_initialize(unsigned long base,unsigned int min_count,unsigned int count); - -/** Finalizes the PWM -* @since AIC-1.4.2 -*/ -extern void pwm_finalize(void); - -/** Sets the duty-cycle of PWM -* @param dutycycle to be used by PWM as a float from 0 to 1.0 -* @return the count value programmed to the PWM timer -* @since AIC-1.4.2 -*/ -extern unsigned long pwm_set_duty_float(float dutycycle); - -/** Sets the duty-cycle of PWM -* @param dutycycle to be used by PWM as a int from 0 to 1000000 -* @return the count value programmed to the PWM timer -* @since AIC-1.4.2 -*/ -extern unsigned long pwm_set_duty(unsigned long dutycycle); - -/** Turns the PWM on -* @since AIC-1.4.2 -*/ -extern void pwm_on(void); - -/** Turns the PWM off -* @since AIC-1.4.2 -*/ -extern void pwm_off(void); - -/** Initializes the motor driver -* @param base Base address for on board devices -* @param voltage Motor Voltage -* @param freq PWM frequency -* @since AIC-1.5.0 -*/ -extern void motor_initialize(unsigned long base,float voltage,float freq); - -/** Finalizes the motor driver -* @since AIC-1.5.0 -*/ -extern void motor_finalize(void); - -/** Turns the motor driver on -* @since AIC-1.5.0 -*/ -extern void motor_on(void); - -/** Turns the motor driver off -* @since AIC-1.5.0 -*/ -extern void motor_off(void); - -/** Sets the voltage to be applied by the motor driver -* @param voltage to be applied by the motor driver -* @return the duty-cycle of the associated PWM -* @since AIC-1.5.0 -*/ -extern float motor_set(float voltage); - -/** Clears the counter on the quadrature decoder chip -* @since AIC-1.5.0 -*/ -extern encoder_clear(void); - -/** Initializes Encoder, clears the counter on the quadrature decoder chip -* @param base Base address for on board devices -* @param pulses Number of pulses per revolution of the encoder, considering the -* quadrature decoder -* @since AIC-1.5.0 -*/ -extern void encoder_initialize(unsigned long base,long pulses); - -/** Finalizes Encoder -* @since AIC-1.5.0 -*/ -extern void encoder_finalize(void); - -/** Gets the count on the quadrature decoder chip -* @return the number of pulses (in 2-complement) since the last time -* the counter was cleared -* @since AIC-1.5.0 -*/ -extern long encoder_get_count(void); - -/** Gets the count and clears the counter on the quadrature decoder chip -* @return the number of pulses (in 2-complement) since the last time -* the counter was cleared -* @since AIC-1.5.0 -*/ -extern long encoder_get_count_and_clear(void); - -/** Reads the counter on the quadrature decoder chip and converts the motion -* to radians -* @return the displacement in radians since the last time -* the encoder was cleared -* @since AIC-1.5.0 -*/ -extern float encoder_read(void); - -/** Reads the counter on the quadrature decoder chip, converts the motion -* to radians and clears the counter -* @return the displacement in radians since the last time -* the encoder was cleared -* @since AIC-1.5.0 -*/ -extern float encoder_read_and_clear(void); - -/** Turns an AIC on -* @since AIC-1.5.0 -*/ -extern void aic_on(void); - -/** Turns an AIC off -* @since AIC-1.5.0 -*/ -extern void aic_off(void); - -/** Initializes an AIC -* @param base Base address for on board devices -* @param vm Motor Voltage -* @param freq PWM frequency -* @param np Pulses per encoder revolution -* @since AIC-1.5.0 -*/ -extern void aic_initialize(unsigned long base,float vm,float freq,long np); - -/** Finalizes an AIC -* @since AIC-1.5.0 -*/ -extern void aic_finalize(void); - -/** -@} -*/ - -/* Unfortunately the TINI Native target does not support a linker, so all -functions are inlined */ -#ifndef _MOTOR_C -#include "../lib/aicio/motor.c" -#endif - -#ifndef _ENCODER_C -#include "../lib/aicio/encoder.c" -#endif - -#ifndef _AIC_C -#include "../lib/aicio/aic.c" -#endif - -#endif diff --git a/include/aicmacro.inc b/include/aicmacro.inc deleted file mode 100644 index 6ecb9f0..0000000 --- a/include/aicmacro.inc +++ /dev/null @@ -1,73 +0,0 @@ -;****************************************************************************** -; -; Actuator Interface Card -; Utility Macros -; Copyright (C) 2004 Walter Fetter Lages -; -; This program is free software; you can redistribute it and/or modify -; it under the terms of the GNU General Public License as published by -; the Free Software Foundation; either version 2 of the License, or -; (at your option) any later version. -; -; This program is distributed in the hope that it will be useful, -; but WITHOUT ANY WARRANTY; without even the implied warranty of -; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -; GNU General Public License for more details. -; -; You should have received a copy of the GNU General Public License -; along with this program; if not, write to the Free Software -; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. -; -; You can also obtain a copy of the GNU General Public License -; at . -; -;******************************************************************************* - -; store 24 bit data -; parameters: addr?=address to store data into -; inputs: dpx:dph:dhl=data to be stored -; destroy: a -; outputs: dpx1:dph1:dpl1=addr? -STORE24 macro param addr? - mov a,dpx - orl DPS,#01h - mov dptr,addr? - movx @dptr,a - inc dptr - mov a,dph - movx @dptr,a - inc dptr - mov a,dpl - movx @dptr,a - anl DPS,#0feh - endm - -; load 24 bit data -; parameters: addr?=address to load data from -; inputs: none -; destroy: a -; outputs: dpx:dph:dpl=loaded data -; dpx1:dph1:dpl1=addr? -LOAD24 macro param addr? - orl DPS,#01h - mov dptr,addr? - movx a,@dptr - inc dptr - mov dpx,a - movx a,@dptr - inc dptr - mov dph,a - movx a,@dptr - mov dpl,a - anl DPS,#0feh - endm - -; include stretch macros - -if(STRETCH > 0) -$include(aicstretch.inc) -endif -if(STRETCH <=0) -$include(aicnostretch.inc) -endif - diff --git a/include/aicnet.h b/include/aicnet.h deleted file mode 100644 index 73bf36b..0000000 --- a/include/aicnet.h +++ /dev/null @@ -1,75 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Host Interface Library - Copyright (C) 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#ifndef _AICNET_H -#define _AICNET_H - -/** @file aicnet.h - Host Interface Library - @author Walter Fetter Lages -*/ - -/** @addtogroup aichost -@{ -*/ - -/** Default command port -*/ -#define CMD_PORT 9880 - -/** Default status port -*/ -#define STATUS_PORT 9877 - -/** AIC command codes -*/ -enum AIC_COMMAND -{ - AIC_INVALID= 0x00, ///< Invalid command - AIC_RESET= 0x01, ///< Reset AIC - AIC_MOTOR_OFF= 0x02, ///< Turns motor off - AIC_BRAKE_APPLY= 0x03, ///< Aplies brake - AIC_MOTOR_ACT= 0x10, ///< Actuates motor with given voltage - AIC_MOTOR_REF= 0x15, ///< Sets the reference for the motor PID - AIC_STATUS= 0x20, ///< Status identification - AIC_BRAKE_RELEASE= 0x30, ///< Releases brake - AIC_MOTOR_ON= 0x31, ///< Turns motor on - AIC_USER0= 0x3b, ///< User defined command 0 - AIC_USER1= 0x3c, ///< User defined command 1 - AIC_USER2= 0x3d, ///< User defined command 2 - AIC_USER3= 0x3e, ///< User defined command 3 - AIC_NOP= 0x3f ///< No operation -}; - -/** AIC status codes -*/ -enum AIC_STATUS -{ - AIC_INDEX_ON= 0x01, ///< Index on - AIC_BUSY= 0x02 ///< AIC is busy -}; - - -#endif diff --git a/include/aicnostretch.inc b/include/aicnostretch.inc deleted file mode 100644 index 42a78af..0000000 --- a/include/aicnostretch.inc +++ /dev/null @@ -1,36 +0,0 @@ -;****************************************************************************** -; -; Actuator Interface Card -; No Stretch Macros -; Copyright (C) 2004 Walter Fetter Lages -; -; This program is free software; you can redistribute it and/or modify -; it under the terms of the GNU General Public License as published by -; the Free Software Foundation; either version 2 of the License, or -; (at your option) any later version. -; -; This program is distributed in the hope that it will be useful, -; but WITHOUT ANY WARRANTY; without even the implied warranty of -; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -; GNU General Public License for more details. -; -; You should have received a copy of the GNU General Public License -; along with this program; if not, write to the Free Software -; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. -; -; You can also obtain a copy of the GNU General Public License -; at . -; -;******************************************************************************* - -; set stretch -; parameters: stretch?=dummy stretch value -SET_STRETCH macro param stretch? -; dummy macro - endm - -; restore original stretch value -; parameters: saved?=dummy stretch value -RESTORE_STRETCH macro param saved? -; dummy macro - endm diff --git a/include/aicpld.inc b/include/aicpld.inc deleted file mode 100644 index 7efac55..0000000 --- a/include/aicpld.inc +++ /dev/null @@ -1,46 +0,0 @@ -;****************************************************************************** -; -; Actuator Interface Card -; PLD Constants -; Copyright (C) 2004 Walter Fetter Lages -; -; This program is free software; you can redistribute it and/or modify -; it under the terms of the GNU General Public License as published by -; the Free Software Foundation; either version 2 of the License, or -; (at your option) any later version. -; -; This program is distributed in the hope that it will be useful, -; but WITHOUT ANY WARRANTY; without even the implied warranty of -; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -; GNU General Public License for more details. -; -; You should have received a copy of the GNU General Public License -; along with this program; if not, write to the Free Software -; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. -; -; You can also obtain a copy of the GNU General Public License -; at . -; -;******************************************************************************* - - -; constants defining addresses for devices in an Actuator Interface Card - -PWM equ 80000h ; PWM address -ENCODER equ 90000h ; Encoder address -CONTROL equ 0A0000h ; Control register address - -; constants for using the control register in an Actuator Interface Card - -PWMDISABLE equ 00h ; PWM disable -PWMENABLE equ 01h ; PWM enable -BRAKEAPPLY equ 02h ; Apply brake -BRAKERELEASE equ 03h ; Release brake - -; stretch values for memory access -; 2 -> 4 cycles -STRETCH equ -2 -STRETCH_MASK equ 0f8h - - - diff --git a/include/aicsim.h b/include/aicsim.h deleted file mode 100644 index cbd2663..0000000 --- a/include/aicsim.h +++ /dev/null @@ -1,82 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card Simulator - Copyright (C) 2003, 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#ifndef _AICSIM_H -#define _AICSIM_H - -#include - -/** @file aicsim.h - AIC Simulator - @author Walter Fetter Lages -*/ - -/** @defgroup aicsim AIC Simulator Interface -@{ -*/ - -/** Emulates an AIC -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -*/ -class AIC_SIM:public AIC_COMM, public AIC -{ - int count; ///< Simulated encoder count - - public: - -/** Initialize AIC simulator -*/ - AIC_SIM(void); - -/** Simulates the execution of an AIC command by logging it to cout -* @param command Code of the command sent to AIC -* @param ... Command arguments -* @see AIC_COMMAND -*/ - void send_command(int command,...); - -/** Simulates the genetration of a status message from an AIC by generating synthetic data -* @param status Code of the status generated by AIC -* @param ... Pointers to status arguments -* @see AIC_COMMAND -*/ - int get_status(int status,...); - -/** Thrown by AIC simulator errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD: public AIC_COMM::BAD { }; - -/** Thrown by AIC simulator command errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_COMMAND: public BAD, AIC_COMM::BAD_COMMAND { }; -}; - -/** -@} -*/ - -#endif diff --git a/include/aicstretch.inc b/include/aicstretch.inc deleted file mode 100644 index 304d683..0000000 --- a/include/aicstretch.inc +++ /dev/null @@ -1,42 +0,0 @@ -;****************************************************************************** -; -; Actuator Interface Card -; Stretch Macros -; Copyright (C) 2004 Walter Fetter Lages -; -; This program is free software; you can redistribute it and/or modify -; it under the terms of the GNU General Public License as published by -; the Free Software Foundation; either version 2 of the License, or -; (at your option) any later version. -; -; This program is distributed in the hope that it will be useful, -; but WITHOUT ANY WARRANTY; without even the implied warranty of -; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -; GNU General Public License for more details. -; -; You should have received a copy of the GNU General Public License -; along with this program; if not, write to the Free Software -; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. -; -; You can also obtain a copy of the GNU General Public License -; at . -; -;******************************************************************************* - -; set stretch -; parameters: stretch?=stretch value -; outputs: a=new CKCON -; r0=old CKCON (including) stretch value -SET_STRETCH macro param stretch? - mov a,CKCON - mov r0,a - anl a,#STRETCH_MASK - orl a,#stretch? - mov CKCON,a - endm - -; restore original stretch value -; parameters: saved?=stretch value -RESTORE_STRETCH macro param saved? - mov CKCON,saved? - endm diff --git a/include/aicudp.h b/include/aicudp.h deleted file mode 100644 index d336c3a..0000000 --- a/include/aicudp.h +++ /dev/null @@ -1,116 +0,0 @@ -/****************************************************************************** - Actuator Interface Card - Host Interface Library - UDP Communication - - Copyright (C) 2003, 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#ifndef _AICUDP_H -#define _AICUDP_H - -#include -#include -#include - -/** @file aicudp.h - UDP Communication - @author Walter Fetter Lages -*/ - -/** @addtogroup aichost -@{ -*/ - -/** Implements an UDP communication channel -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -*/ -class AIC_UDP:public AIC_COMM, public AIC -{ - /// socket for transmitting commands - struct sockaddr_in cmdaddr; - /// file descriptor for command socket - int cmdfd; - - /// socket for receiving sensor signal - struct sockaddr_in stataddr; - /// file descriptor for status socket - int statfd; - - public: - -/** Creates an UDP channel to AIC -* @param aicname pointer to a string with the name of AIC to be connected to -* @param statport UDP port used to receive status from AIC -* @param cmdport UDP port to send commands to -* @see aicnet.h -*/ - AIC_UDP(const char *aicname,int statport=STATUS_PORT,int cmdport=CMD_PORT); - -/** Closes the UDP channel -*/ - virtual ~AIC_UDP(void); - -/** Sends a command and its arguments to AIC -* @param command Code of the command to send to AIC -* @param ... Command arguments -* @see AIC_COMMAND -*/ - void send_command(int command,...); - -/** Receives a status message from AIC -* @param status Code of the status sent by AIC -* @param ... Pointers to status arguments -* @see AIC_COMMAND -*/ - int get_status(int status,...); - -/** Thrown by AIC_UDP errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD:public AIC_COMM::BAD { }; - -/** Thrown by AIC_UDP socket errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_SOCKET:public BAD { }; - -/** Thrown by AIC_UDP bind errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_BIND:public BAD { }; - -/** Thrown by AIC_UDP send errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_SEND:public BAD,AIC_COMM::BAD_SEND { }; - -/** Thrown by AIC_UDP receive errors -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ - class BAD_RECEIVE:public BAD,AIC_COMM::BAD_RECEIVE { }; -}; - -/** -@} -*/ -#endif diff --git a/include/buffer.h b/include/buffer.h new file mode 100644 index 0000000..d3c7a82 --- /dev/null +++ b/include/buffer.h @@ -0,0 +1,80 @@ +/****************************************************************************** + + Actuator Interface Card + Rotation Buffer + Copyright (C) 2008 Diego Caberlon Santini + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + + You can also obtain a copy of the GNU General Public License + at . + +******************************************************************************* +2008.06.13 -> Start by Diego Caberlon Santini +*/ +#ifndef BUFFER_H +#define BUFFER_H + +/** @file buffer.h + * Rotation Buffer + * @author Diego Caberlon Santini + */ + +/** @defgroup buffer Buffer Group +@{ + */ + +/** Max Buffer Size + */ +#define BUFFER_SIZE 256 +/******************************************************************************/ + +/** Buffer body + */ +typedef struct buffer_info buffer_info_t; +struct buffer_info{ + char buffer[BUFFER_SIZE]; ///< Buffer + char *ptr_base; ///< Buffer Base + char *ptr_in; ///< Buffer In + char *ptr_out; ///< Buffer Out + int count; ///< Buffer Count +}; + +/******************************************************************************/ +/** Finalizes buffer + * @param buffer_ptr Pointer to a buffer + */ +void buffer_end(buffer_info_t *buffer_ptr); +/******************************************************************************/ +/** Get data on buffer + * @param buffer_ptr Pointer to a buffer + * @param data Pointer to return data + * @return 0 OK and -1 to error + */ +int buffer_get(buffer_info_t *buffer_ptr, char *data); +/******************************************************************************/ +/** Puts data on buffer + * @param buffer_ptr Pointer to a buffer + * @param data Value to put in buffer + * @return 0 OK and -1 to error + */ +int buffer_put(buffer_info_t *buffer_ptr, char data); +/******************************************************************************/ +/** Initializes buffer + * @param buffer_ptr Pointer to a buffer + */ +void buffer_init(buffer_info_t *buffer_ptr); +/******************************************************************************/ +#endif diff --git a/include/i8254.inc b/include/i8254.inc deleted file mode 100644 index 9f33a3d..0000000 --- a/include/i8254.inc +++ /dev/null @@ -1,35 +0,0 @@ -;****************************************************************************** -; -; Actuator Interface Card -; 8254 Programmable Interrupt Timer Constants -; Copyright (C) 2004 Walter Fetter Lages -; -; This program is free software; you can redistribute it and/or modify -; it under the terms of the GNU General Public License as published by -; the Free Software Foundation; either version 2 of the License, or -; (at your option) any later version. -; -; This program is distributed in the hope that it will be useful, -; but WITHOUT ANY WARRANTY; without even the implied warranty of -; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -; GNU General Public License for more details. -; -; You should have received a copy of the GNU General Public License -; along with this program; if not, write to the Free Software -; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. -; -; You can also obtain a copy of the GNU General Public License -; at . -; -;******************************************************************************* - - -; 8254 registers -TIMER0_8254 equ 0h ; timer 0 address -TIMER1_8254 equ 1h ; timer 1 address -TIMER2_8254 equ 2h ; timer 2 address -CTRL_8254 equ 3h ; control/status register - -; timer modes -ONE_SHOT_BIN_8254 equ 32h ; programmable one-shot binary -RATE_BIN_8254 equ 34h ; rate generator binary diff --git a/include/p30f4012.h b/include/p30f4012.h new file mode 100644 index 0000000..8a368cf --- /dev/null +++ b/include/p30f4012.h @@ -0,0 +1,3025 @@ + +/*------------------------------------------------------------------------- + * + * MPLAB-C30 dsPIC30F4012 processor header + * + * (c) Copyright 2005 Microchip Technology, All rights reserved + * + * File Description / Notes: + * ========================= + * 1] This header file defines special function registers (SFR), and useful + * macros for the dsPIC30Fxxxx Family of Digital Signal + * Controllers (also referred to as the dsPIC). + * 2] The register and bit names used in this file match the + * dsPIC30Fxxxx data sheets as closely as possible. + * 3] The memory locations of the registers defined in this header file are + * specified in the respective linker scripts. + * 4] SFR definitions are listed in the ascending order of memory addresses + * and are grouped based on the module they belong to. For e.g., WREG10 + * is listed before ACCAL, and the Core SFRs are grouped separately + * from the Interrupt Controller SFRs or the General Purpose Timer SFRs. + * + * Revision History: + * ================= + * -------------------------------------------------------------------------- + * Rev: Date: Details: Who: + * -------------------------------------------------------------------------- + * 2.0 23 Apr 2003 New file P Sinha + * 2.0a 24 Apr 2003 Added CEID bit P Sinha + * 2.0b 30 Apr 2003 Removed suffix 'B' from device number P Sinha + * 2.0c 2 May 2003 'H' suffix added to CiRXFnEID/CiRXMnEID P Sinha + * 2.1 2 Jun 2003 Relocated CANCAP bit to CxCTRL P Sinha + * 2.2 17 Jun 2003 Renamed CONV bit to DONE P Sinha + * 2.3 20 Jun 2003 Corrections in Config Fuses comments P Sinha + * 2.3a 23 Jun 2003 Typos in CAN structure corrected P Sinha + * 2.3b 5 Aug 2003 Added TUN1-4 bits in OSCCON P Sinha + * 2.3c 18 Sep 2003 DFLTCON changes P Sinha + * 2.4 10 Oct 2003 Added macros for data allocation and ISRs P Sinha + * 2.5 25 Nov 2003 Renamed TUN1-4 bits to TUNF0-3 P Sinha + * 3.0 30 Mar 2004 Added defines for unique SFR bit names P Sinha + * 3.1 5 Apr 2004 Added underscore before SFR bit labels P Sinha + * 3.1a 8 Apr 2004 Added config macros for FRC w/ PLL modes P Sinha + * 3.2 11 Apr 2004 Enhanced config macro usage examples P Sinha + * 3.3 14 Apr 2004 Corrected a typo in the _U1RXIE bit label P Sinha + * 4.0 28 Sep 2004 Changed data allocation macro definitions P Sinha + * 4.1 22 Dec 2004 Corrected a typo in the _U1RXIE definition P Sinha + * 4.1a 14 Mar 2005 Removed LVD definitions P Sinha + * 4.2 4 Apr 2005 Renamed EC_IO to ECIO and ERC_IO to ERCIO P Sinha + * 4.2a 27 Jun 2005 Fixed typos in comments regarding macros G McCar + * 4.3 1 Jul 2005 Updated section syntax in config macros P Sinha + * -------------------------------------------------------------------------- + * + * ------------------------------------------------------------------------*/ + +#ifndef __30F4012_H +#define __30F4012_H + +/* ------------------------- */ +/* Core Register Definitions */ +/* ------------------------- */ + +/* W registers W0-W15 */ +extern volatile unsigned int WREG0 __attribute__((__sfr__,__deprecated__,__unsafe__)); +extern volatile unsigned int WREG1 __attribute__((__sfr__,__deprecated__,__unsafe__)); +extern volatile unsigned int WREG2 __attribute__((__sfr__,__deprecated__,__unsafe__)); +extern volatile unsigned int WREG3 __attribute__((__sfr__,__deprecated__,__unsafe__)); +extern volatile unsigned int WREG4 __attribute__((__sfr__,__deprecated__,__unsafe__)); +extern volatile unsigned int WREG5 __attribute__((__sfr__,__deprecated__,__unsafe__)); +extern volatile unsigned int WREG6 __attribute__((__sfr__,__deprecated__,__unsafe__)); +extern volatile unsigned int WREG7 __attribute__((__sfr__,__deprecated__,__unsafe__)); +extern volatile unsigned int WREG8 __attribute__((__sfr__,__deprecated__,__unsafe__)); +extern volatile unsigned int WREG9 __attribute__((__sfr__,__deprecated__,__unsafe__)); +extern volatile unsigned int WREG10 __attribute__((__sfr__,__deprecated__,__unsafe__)); +extern volatile unsigned int WREG11 __attribute__((__sfr__,__deprecated__,__unsafe__)); +extern volatile unsigned int WREG12 __attribute__((__sfr__,__deprecated__,__unsafe__)); +extern volatile unsigned int WREG13 __attribute__((__sfr__,__deprecated__,__unsafe__)); +extern volatile unsigned int WREG14 __attribute__((__sfr__,__deprecated__,__unsafe__)); +extern volatile unsigned int WREG15 __attribute__((__sfr__,__deprecated__,__unsafe__)); + +/* SPLIM: Stack Pointer Limit */ +extern volatile unsigned int SPLIM __attribute__((__sfr__)); + +/* Alternative access structure for the 40-bit accumulators */ +typedef struct tagACC { + unsigned int L; + unsigned int H; + unsigned char U; +} ACC; + +/* Acc A<15:0> */ +extern volatile unsigned int ACCAL __attribute__((__sfr__)); + +/* Acc A<31:16> */ +extern volatile unsigned int ACCAH __attribute__((__sfr__)); + +/* Acc A<39:32> */ +extern volatile unsigned char ACCAU __attribute__((__sfr__)); + +/* Acc A defined as a structure consisting of the 3 parts */ +extern volatile ACC ACCA __attribute__((__sfr__)); + +/* Acc B<15:0> */ +extern volatile unsigned int ACCBL __attribute__((__sfr__)); + +/* Acc B<31:16> */ +extern volatile unsigned int ACCBH __attribute__((__sfr__)); + +/* Acc B<39:32> */ +extern volatile unsigned char ACCBU __attribute__((__sfr__)); + +/* Acc B defined as a structure consisting of the 3 parts */ +extern volatile ACC ACCB __attribute__((__sfr__)); + +/* PCL: Program Counter low word */ +extern volatile unsigned int PCL __attribute__((__sfr__)); + +/* PCH: Program Counter high byte */ +extern volatile unsigned char PCH __attribute__((__sfr__)); + +/* TBLPAG: Table Page Register */ +extern volatile unsigned char TBLPAG __attribute__((__sfr__)); + +/* PSVPAG: Program Space Visibility Page Register */ +extern volatile unsigned char PSVPAG __attribute__((__sfr__)); + +/* RCOUNT: REPEAT loop count */ +extern volatile unsigned int RCOUNT __attribute__((__sfr__)); + +/* DCOUNT: DO loop count */ +extern volatile unsigned int DCOUNT __attribute__((__sfr__)); + +/* DOSTARTL: DO loop start address bits <15:0> */ +extern volatile unsigned int DOSTARTL __attribute__((__sfr__)); + +/* DOSTARTH: DO loop start address bits <23:16> */ +extern volatile unsigned int DOSTARTH __attribute__((__sfr__)); + +/* DOENDL: DO loop end address bits <15:0> */ +extern volatile unsigned int DOENDL __attribute__((__sfr__)); + +/* DOENDH: DO loop end address bits <23:16> */ +extern volatile unsigned int DOENDH __attribute__((__sfr__)); + +/* SR: Status Register */ +extern volatile unsigned int SR __attribute__((__sfr__)); +typedef struct tagSRBITS { + unsigned C :1; /* Carry flag */ + unsigned Z :1; /* Sticky Zero flag */ + unsigned OV :1; /* Overflow flag */ + unsigned N :1; /* Negative flag */ + unsigned RA :1; /* REPEAT loop active flag */ + unsigned IPL :3; /* CPU Interrupt Priority Level */ + unsigned DC :1; /* Digit Carry flag */ + unsigned DA :1; /* DO loop active flag */ + unsigned SAB :1; /* Combined A/B saturation flag */ + unsigned OAB :1; /* Combined A/B overflow flag */ + unsigned SB :1; /* Acc B saturation flag */ + unsigned SA :1; /* Acc A saturation flag */ + unsigned OB :1; /* Acc B overflow flag */ + unsigned OA :1; /* Acc A overflow flag */ +} SRBITS; +extern volatile SRBITS SRbits __attribute__((__sfr__)); + +/* CORCON: CPU Mode control Register */ +extern volatile unsigned int CORCON __attribute__((__sfr__)); +typedef struct tagCORCONBITS { + unsigned IF :1; /* Integer/Fractional mode */ + unsigned RND :1; /* Rounding mode */ + unsigned PSV :1; /* Program Space Visibility enable */ + unsigned IPL3 :1; /* CPU Interrupt Priority Level bit 3 */ + unsigned ACCSAT :1; /* Acc saturation mode */ + unsigned SATDW :1; /* Data space write saturation enable */ + unsigned SATB :1; /* Acc B saturation enable */ + unsigned SATA :1; /* Acc A saturation enable */ + unsigned DL :3; /* DO loop nesting level status */ + unsigned EDT :1; /* Early DO loop termination control */ + unsigned US :1; /* Signed/Unsigned mode */ + unsigned :3; +} CORCONBITS; +extern volatile CORCONBITS CORCONbits __attribute__((__sfr__)); + +/* MODCON: Modulo Addressing Control Register */ +extern volatile unsigned int MODCON __attribute__((__sfr__)); +typedef struct tagMODCONBITS { + unsigned XWM :4; /* X-RAGU/X-WAGU modulo addressing register select */ + unsigned YWM :4; /* Y-RAGU modulo addressing register select */ + unsigned BWM :4; /* Bit-reversed addressing register select */ + unsigned :2; + unsigned YMODEN :1; /* Y-RAGU modulo addressing enable */ + unsigned XMODEN :1; /* X-RAGU/X-WAGU modulo addressing enable */ +} MODCONBITS; +extern volatile MODCONBITS MODCONbits __attribute__((__sfr__)); + +/* XMODSRT: X-RAGU/X-WAGU modulo buffer start address */ +extern volatile unsigned int XMODSRT __attribute__((__sfr__)); + +/* XMODEND: X-RAGU/X-WAGU modulo buffer end address */ +extern volatile unsigned int XMODEND __attribute__((__sfr__)); + +/* YMODSRT: Y-RAGU modulo buffer start address */ +extern volatile unsigned int YMODSRT __attribute__((__sfr__)); + +/* YMODEND: Y-RAGU modulo buffer end address */ +extern volatile unsigned int YMODEND __attribute__((__sfr__)); + +/* XBREV: X-WAGU Bit-reversed Addressing Control Register */ +extern volatile unsigned int XBREV __attribute__((__sfr__)); +typedef struct tagXBREVBITS { + unsigned XB :15; /* Bit-reversed addressing register select */ + unsigned BREN :1; /* Bit-reversed addressing enable */ +} XBREVBITS; +extern volatile XBREVBITS XBREVbits __attribute__((__sfr__)); + +/* DISICNT: Disable Interrupt Cycle Count */ +extern volatile unsigned int DISICNT __attribute__((__sfr__)); +typedef struct tagDISICNTBITS { + unsigned DISICNT:14; + unsigned :2; +} DISICNTBITS; +extern volatile DISICNTBITS DISICNTbits __attribute__((__sfr__)); + + +/* ----------------------------------------- */ +/* Interrupt Controller register definitions */ +/* ----------------------------------------- */ + +/* INTCON1: Interrupt Control Register 1 */ +extern volatile unsigned int INTCON1 __attribute__((__sfr__)); +typedef struct tagINTCON1BITS { + unsigned :1; + unsigned OSCFAIL:1; + unsigned STKERR :1; + unsigned ADDRERR:1; + unsigned MATHERR:1; + unsigned :3; + unsigned COVTE :1; + unsigned OVBTE :1; + unsigned OVATE :1; + unsigned :4; + unsigned NSTDIS :1; +} INTCON1BITS; +extern volatile INTCON1BITS INTCON1bits __attribute__((__sfr__)); + +/* INTCON2: Interrupt Control Register 2 */ +extern volatile unsigned int INTCON2 __attribute__((__sfr__)); +typedef struct tagINTCON2BITS { + unsigned INT0EP :1; + unsigned INT1EP :1; + unsigned INT2EP :1; + unsigned :11; + unsigned DISI :1; + unsigned ALTIVT :1; +} INTCON2BITS; +extern volatile INTCON2BITS INTCON2bits __attribute__((__sfr__)); + +/* IFS0: Interrupt Flag Status Register 0 */ +extern volatile unsigned int IFS0 __attribute__((__sfr__)); +typedef struct tagIFS0BITS { + unsigned INT0IF :1; + unsigned IC1IF :1; + unsigned OC1IF :1; + unsigned T1IF :1; + unsigned IC2IF :1; + unsigned OC2IF :1; + unsigned T2IF :1; + unsigned T3IF :1; + unsigned SPI1IF :1; + unsigned U1RXIF :1; + unsigned U1TXIF :1; + unsigned ADIF :1; + unsigned NVMIF :1; + unsigned SI2CIF :1; + unsigned MI2CIF :1; + unsigned CNIF :1; +} IFS0BITS; +extern volatile IFS0BITS IFS0bits __attribute__((__sfr__)); + +/* IFS1: Interrupt Flag Status Register 1 */ +extern volatile unsigned int IFS1 __attribute__((__sfr__)); +typedef struct tagIFS1BITS { + unsigned INT1IF :1; + unsigned IC7IF :1; + unsigned IC8IF :1; + unsigned :2; + unsigned T4IF :1; + unsigned T5IF :1; + unsigned INT2IF :1; + unsigned :3; + unsigned C1IF :1; + unsigned :4; +} IFS1BITS; +extern volatile IFS1BITS IFS1bits __attribute__((__sfr__)); + +/* IFS2: Interrupt Flag Status Register 2 */ +extern volatile unsigned int IFS2 __attribute__((__sfr__)); +typedef struct tagIFS2BITS { + unsigned :7; + unsigned PWMIF :1; + unsigned QEIIF :1; + unsigned :2; + unsigned FLTAIF :1; + unsigned :4; +} IFS2BITS; +extern volatile IFS2BITS IFS2bits __attribute__((__sfr__)); + +/* IEC0: Interrupt Enable Control Register 0 */ +extern volatile unsigned int IEC0 __attribute__((__sfr__)); +typedef struct tagIEC0BITS { + unsigned INT0IE :1; + unsigned IC1IE :1; + unsigned OC1IE :1; + unsigned T1IE :1; + unsigned IC2IE :1; + unsigned OC2IE :1; + unsigned T2IE :1; + unsigned T3IE :1; + unsigned SPI1IE :1; + unsigned U1RXIE :1; + unsigned U1TXIE :1; + unsigned ADIE :1; + unsigned NVMIE :1; + unsigned SI2CIE :1; + unsigned MI2CIE :1; + unsigned CNIE :1; +} IEC0BITS; +extern volatile IEC0BITS IEC0bits __attribute__((__sfr__)); + +/* IEC1: Interrupt Enable Control Register 1 */ +extern volatile unsigned int IEC1 __attribute__((__sfr__)); +typedef struct tagIEC1BITS { + unsigned INT1IE :1; + unsigned IC7IE :1; + unsigned IC8IE :1; + unsigned :2; + unsigned T4IE :1; + unsigned T5IE :1; + unsigned INT2IE :1; + unsigned :3; + unsigned C1IE :1; + unsigned :4; +} IEC1BITS; +extern volatile IEC1BITS IEC1bits __attribute__((__sfr__)); + +/* IEC2: Interrupt Enable Control Register 2 */ +extern volatile unsigned int IEC2 __attribute__((__sfr__)); +typedef struct tagIEC2BITS { + unsigned :7; + unsigned PWMIE :1; + unsigned QEIIE :1; + unsigned :2; + unsigned FLTAIE :1; + unsigned :4; +} IEC2BITS; +extern volatile IEC2BITS IEC2bits __attribute__((__sfr__)); + +/* IPC0: Interrupt Priority Control Register 0 */ +extern volatile unsigned int IPC0 __attribute__((__sfr__)); +typedef struct tagIPC0BITS { + unsigned INT0IP :3; + unsigned :1; + unsigned IC1IP :3; + unsigned :1; + unsigned OC1IP :3; + unsigned :1; + unsigned T1IP :3; + unsigned :1; +} IPC0BITS; +extern volatile IPC0BITS IPC0bits __attribute__((__sfr__)); + +/* IPC1: Interrupt Priority Control Register 1 */ +extern volatile unsigned int IPC1 __attribute__((__sfr__)); +typedef struct tagIPC1BITS { + unsigned IC2IP :3; + unsigned :1; + unsigned OC2IP :3; + unsigned :1; + unsigned T2IP :3; + unsigned :1; + unsigned T3IP :3; + unsigned :1; +} IPC1BITS; +extern volatile IPC1BITS IPC1bits __attribute__((__sfr__)); + +/* IPC2: Interrupt Priority Control Register 2 */ +extern volatile unsigned int IPC2 __attribute__((__sfr__)); +typedef struct tagIPC2BITS { + unsigned SPI1IP :3; + unsigned :1; + unsigned U1RXIP :3; + unsigned :1; + unsigned U1TXIP :3; + unsigned :1; + unsigned ADIP :3; + unsigned :1; +} IPC2BITS; +extern volatile IPC2BITS IPC2bits __attribute__((__sfr__)); + +/* IPC3: Interrupt Priority Control Register 3 */ +extern volatile unsigned int IPC3 __attribute__((__sfr__)); +typedef struct tagIPC3BITS { + unsigned NVMIP :3; + unsigned :1; + unsigned SI2CIP :3; + unsigned :1; + unsigned MI2CIP :3; + unsigned :1; + unsigned CNIP :3; + unsigned :1; +} IPC3BITS; +extern volatile IPC3BITS IPC3bits __attribute__((__sfr__)); + +/* IPC4: Interrupt Priority Control Register 4 */ +extern volatile unsigned int IPC4 __attribute__((__sfr__)); +typedef struct tagIPC4BITS { + unsigned INT1IP :3; + unsigned :1; + unsigned IC7IP :3; + unsigned :1; + unsigned IC8IP :3; + unsigned :5; +} IPC4BITS; +extern volatile IPC4BITS IPC4bits __attribute__((__sfr__)); + +/* IPC5: Interrupt Priority Control Register 5 */ +extern volatile unsigned int IPC5 __attribute__((__sfr__)); +typedef struct tagIPC5BITS { + unsigned :4; + unsigned T4IP :3; + unsigned :1; + unsigned T5IP :3; + unsigned :1; + unsigned INT2IP :3; + unsigned :1; +} IPC5BITS; +extern volatile IPC5BITS IPC5bits __attribute__((__sfr__)); + +/* IPC6: Interrupt Priority Control Register 6 */ +extern volatile unsigned int IPC6 __attribute__((__sfr__)); +typedef struct tagIPC6BITS { + unsigned :12; + unsigned C1IP :3; + unsigned :1; +} IPC6BITS; +extern volatile IPC6BITS IPC6bits __attribute__((__sfr__)); + +/* IPC9: Interrupt Priority Control Register 9 */ +extern volatile unsigned int IPC9 __attribute__((__sfr__)); +typedef struct tagIPC9BITS { + unsigned :12; + unsigned PWMIP :3; + unsigned :1; +} IPC9BITS; +extern volatile IPC9BITS IPC9bits __attribute__((__sfr__)); + +/* IPC10: Interrupt Priority Control Register 10 */ +extern volatile unsigned int IPC10 __attribute__((__sfr__)); +typedef struct tagIPC10BITS { + unsigned QEIIP :3; + unsigned :9; + unsigned FLTAIP :3; + unsigned :1; +} IPC10BITS; +extern volatile IPC10BITS IPC10bits __attribute__((__sfr__)); + +/* ---------------------------------------------- */ +/* Input Change Notification register definitions */ +/* ---------------------------------------------- */ + +/* CNEN1: Input Change Notification Interrupt Enable Register 1 */ +extern volatile unsigned int CNEN1 __attribute__((__sfr__)); +typedef struct tagCNEN1BITS { + unsigned CN0IE :1; + unsigned CN1IE :1; + unsigned CN2IE :1; + unsigned CN3IE :1; + unsigned CN4IE :1; + unsigned CN5IE :1; + unsigned CN6IE :1; + unsigned CN7IE :1; + unsigned :8; +} CNEN1BITS; +extern volatile CNEN1BITS CNEN1bits __attribute__((__sfr__)); + +/* CNPU1: Input Change Notification Pullup Enable Register 1 */ +extern volatile unsigned int CNPU1 __attribute__((__sfr__)); +typedef struct tagCNPU1BITS { + unsigned CN0PUE :1; + unsigned CN1PUE :1; + unsigned CN2PUE :1; + unsigned CN3PUE :1; + unsigned CN4PUE :1; + unsigned CN5PUE :1; + unsigned CN6PUE :1; + unsigned CN7PUE :1; + unsigned :8; +} CNPU1BITS; +extern volatile CNPU1BITS CNPU1bits __attribute__((__sfr__)); + + +/* --------------------------- */ +/* Timer1 register definitions */ +/* --------------------------- */ + +/* Generic structure for Timer 1 Control Register */ +typedef struct tagTCON_16BIT { + unsigned :1; + unsigned TCS :1; + unsigned TSYNC :1; + unsigned :1; + unsigned TCKPS :2; + unsigned TGATE :1; + unsigned :6; + unsigned TSIDL :1; + unsigned :1; + unsigned TON :1; +} TCON_16BIT; + +/* TMR1: Timer 1 Count Register */ +extern volatile unsigned int TMR1 __attribute__((__sfr__)); + +/* PR1: Timer 1 Period Register */ +extern volatile unsigned int PR1 __attribute__((__sfr__)); + +/* T1CON: Timer 1 Control Register */ +extern volatile unsigned int T1CON __attribute__((__sfr__)); +extern volatile TCON_16BIT T1CONbits __attribute__((__sfr__)); + +/* ----------------------------- */ +/* Timer2/3 register definitions */ +/* ----------------------------- */ + +/* Generic structure for Timer 2 and Timer 4 Control Registers */ +typedef struct tagTCON_EVEN { + unsigned :1; + unsigned TCS :1; + unsigned :1; + unsigned T32 :1; + unsigned TCKPS :2; + unsigned TGATE :1; + unsigned :6; + unsigned TSIDL :1; + unsigned :1; + unsigned TON :1; +} TCON_EVEN; + +/* Generic structure for Timer 3 and Timer 5 Control Registers */ +typedef struct tagTCON_ODD { + unsigned :1; + unsigned TCS :1; + unsigned :2; + unsigned TCKPS :2; + unsigned TGATE :1; + unsigned :6; + unsigned TSIDL :1; + unsigned :1; + unsigned TON :1; +} TCON_ODD; + +/* TMR2: Timer 2 Count Register */ +extern volatile unsigned int TMR2 __attribute__((__sfr__)); + +/* TMR3HLD: Timer 3 Holding Register */ +extern volatile unsigned int TMR3HLD __attribute__((__sfr__)); + +/* TMR3: Timer 3 Count Register */ +extern volatile unsigned int TMR3 __attribute__((__sfr__)); + +/* PR2: Timer 2 Period Register */ +extern volatile unsigned int PR2 __attribute__((__sfr__)); + +/* PR3: Timer 3 Period Register */ +extern volatile unsigned int PR3 __attribute__((__sfr__)); + +/* T2CON: Timer 2 Control Register */ +extern volatile unsigned int T2CON __attribute__((__sfr__)); +extern volatile TCON_EVEN T2CONbits __attribute__((__sfr__)); + +/* T3CON: Timer 3 Control Register */ +extern volatile unsigned int T3CON __attribute__((__sfr__)); +extern volatile TCON_ODD T3CONbits __attribute__((__sfr__)); + +/* ----------------------------- */ +/* Timer4/5 register definitions */ +/* ----------------------------- */ + +/* TMR4: Timer 4 Count Register */ +extern volatile unsigned int TMR4 __attribute__((__sfr__)); + +/* TMR5HLD: Timer 5 Holding Register */ +extern volatile unsigned int TMR5HLD __attribute__((__sfr__)); + +/* TMR5: Timer 5 Count Register */ +extern volatile unsigned int TMR5 __attribute__((__sfr__)); + +/* PR4: Timer 4 Period Register */ +extern volatile unsigned int PR4 __attribute__((__sfr__)); + +/* PR5: Timer 5 Period Register */ +extern volatile unsigned int PR5 __attribute__((__sfr__)); + +/* T4CON: Timer 4 Control Register */ +extern volatile unsigned int T4CON __attribute__((__sfr__)); +extern volatile TCON_EVEN T4CONbits __attribute__((__sfr__)); + +/* T5CON: Timer 5 Control Register */ +extern volatile unsigned int T5CON __attribute__((__sfr__)); +extern volatile TCON_ODD T5CONbits __attribute__((__sfr__)); + +/* ------------------------------------------------- */ +/* Quadrature Encoder Interface register definitions */ +/* ------------------------------------------------- */ + +/* QEICON: QEI Control Register */ +extern volatile unsigned int QEICON __attribute__((__sfr__)); +typedef struct tagQEICONBITS { + unsigned UPDN_SRC:1; + unsigned TQCS :1; + unsigned POSRES :1; + unsigned TQCKPS :2; + unsigned TQGATE :1; + unsigned PCDOUT :1; + unsigned SWPAB :1; + unsigned QEIM :3; + unsigned UPDN :1; + unsigned INDX :1; + unsigned QEISIDL:1; + unsigned :1; + unsigned CNTERR :1; +} QEICONBITS; +extern volatile QEICONBITS QEICONbits __attribute__((__sfr__)); + +/* DFLTCON: Digital Filter Control Register */ +extern volatile unsigned int DFLTCON __attribute__((__sfr__)); +typedef struct tagDFLTCONBITS { + unsigned :4; + unsigned QECK :3; + unsigned QEOUT :1; + unsigned CEID :1; + unsigned IMV :2; + unsigned :5; +} DFLTCONBITS; +extern volatile DFLTCONBITS DFLTCONbits __attribute__((__sfr__)); + +/* POSCNT: Position Counter Register */ +extern volatile unsigned int POSCNT __attribute__((__sfr__)); + +/* MAXCNT: Maximum Count Register */ +extern volatile unsigned int MAXCNT __attribute__((__sfr__)); + +/* ---------------------------------- */ +/* Input Capture register definitions */ +/* ---------------------------------- */ + +/* Generic structure of entire SFR area for each Input Capture module */ +typedef struct tagIC { + unsigned int icxbuf; + unsigned int icxcon; +} IC, *PIC; + +/* SFR blocks for each Input Capture module */ +extern volatile IC IC1 __attribute__((__sfr__)); +extern volatile IC IC2 __attribute__((__sfr__)); +extern volatile IC IC7 __attribute__((__sfr__)); +extern volatile IC IC8 __attribute__((__sfr__)); + +/* Generic structure for Input Capture Control Registers */ +typedef struct tagICxCONBITS { + unsigned ICM :3; + unsigned ICBNE :1; + unsigned ICOV :1; + unsigned ICI :2; + unsigned ICTMR :1; + unsigned :5; + unsigned ICSIDL :1; + unsigned :2; +} ICxCONBITS; + +/* IC1BUF: Input Capture 1 Buffer */ +extern volatile unsigned int IC1BUF __attribute__((__sfr__)); + +/* IC1CON: Input Capture 1 Control Register */ +extern volatile unsigned int IC1CON __attribute__((__sfr__)); +extern volatile ICxCONBITS IC1CONbits __attribute__((__sfr__)); + +/* IC2BUF: Input Capture 2 Buffer */ +extern volatile unsigned int IC2BUF __attribute__((__sfr__)); + +/* IC2CON: Input Capture 2 Control Register */ +extern volatile unsigned int IC2CON __attribute__((__sfr__)); +extern volatile ICxCONBITS IC2CONbits __attribute__((__sfr__)); + +/* IC7BUF: Input Capture 7 Buffer */ +extern volatile unsigned int IC7BUF __attribute__((__sfr__)); + +/* IC7CON: Input Capture 7 Control Register */ +extern volatile unsigned int IC7CON __attribute__((__sfr__)); +extern volatile ICxCONBITS IC7CONbits __attribute__((__sfr__)); + +/* IC8BUF: Input Capture 8 Buffer */ +extern volatile unsigned int IC8BUF __attribute__((__sfr__)); + +/* IC8CON: Input Capture 8 Control Register */ +extern volatile unsigned int IC8CON __attribute__((__sfr__)); +extern volatile ICxCONBITS IC8CONbits __attribute__((__sfr__)); + + +/* --------------------------------------- */ +/* Output Compare/PWM register definitions */ +/* --------------------------------------- */ + +/* Generic structure of entire SFR area for each Output Compare module */ +typedef struct tagOC { + unsigned int ocxrs; + unsigned int ocxr; + unsigned int ocxcon; +} OC, *POC; + +/* SFR blocks for each Output Compare module */ +extern volatile OC OC1 __attribute__((__sfr__)); +extern volatile OC OC2 __attribute__((__sfr__)); + +/* Generic structure for Output Compare Control Registers */ +typedef struct tagOCxCONBITS { + unsigned OCM :3; + unsigned OCTSEL :1; + unsigned OCFLT :1; + unsigned :8; + unsigned OCSIDL :1; + unsigned :2; +} OCxCONBITS; + +/* OC1RS: Output Compare 1 Secondary Register */ +extern volatile unsigned int OC1RS __attribute__((__sfr__)); + +/* OC1R: Output Compare 1 Main Register */ +extern volatile unsigned int OC1R __attribute__((__sfr__)); + +/* OC1CON: Output Compare 1 Control Register */ +extern volatile unsigned int OC1CON __attribute__((__sfr__)); +extern volatile OCxCONBITS OC1CONbits __attribute__((__sfr__)); + +/* OC2RS: Output Compare 2 Secondary Register */ +extern volatile unsigned int OC2RS __attribute__((__sfr__)); + +/* OC2R: Output Compare 2 Main Register */ +extern volatile unsigned int OC2R __attribute__((__sfr__)); + +/* OC2CON: Output Compare 2 Control Register */ +extern volatile unsigned int OC2CON __attribute__((__sfr__)); +extern volatile OCxCONBITS OC2CONbits __attribute__((__sfr__)); + + +/* -------------------------------------- */ +/* Motor Control PWM register definitions */ +/* -------------------------------------- */ + +/* PTCON: PWM Timerbase Control Register */ +extern volatile unsigned int PTCON __attribute__((__sfr__)); +typedef struct tagPTCONBITS { + unsigned PTMOD :2; + unsigned PTCKPS :2; + unsigned PTOPS :4; + unsigned :5; + unsigned PTSIDL :1; + unsigned :1; + unsigned PTEN :1; +} PTCONBITS; +extern volatile PTCONBITS PTCONbits __attribute__((__sfr__)); + +/* PTMR: PWM Timebase Count Register */ +extern volatile unsigned int PTMR __attribute__((__sfr__)); +typedef struct tagPTMRBITS { + unsigned PTMR :15; + unsigned PTDIR :1; +} PTMRBITS; +extern volatile PTMRBITS PTMRbits __attribute__((__sfr__)); + +/* PTPER: PWM Timebase Period Register */ +extern volatile unsigned int PTPER __attribute__((__sfr__)); +typedef struct tagPTPERBITS { + unsigned PTPER :15; + unsigned :1; +} PTPERBITS; +extern volatile PTPERBITS PTPERbits __attribute__((__sfr__)); + +/* SEVTCMP: Special Event Compare Count Register */ +extern volatile unsigned int SEVTCMP __attribute__((__sfr__)); +typedef struct tagSEVTCMPBITS { + unsigned SEVTCMP:15; + unsigned SEVTDIR:1; +} SEVTCMPBITS; +extern volatile SEVTCMPBITS SEVTCMPbits __attribute__((__sfr__)); + +/* PWMCON1: PWM Control Register 1 */ +extern volatile unsigned int PWMCON1 __attribute__((__sfr__)); +typedef struct tagPWMCON1BITS { + unsigned PEN1L :1; + unsigned PEN2L :1; + unsigned PEN3L :1; + unsigned :1; + unsigned PEN1H :1; + unsigned PEN2H :1; + unsigned PEN3H :1; + unsigned :1; + unsigned PMOD1 :1; + unsigned PMOD2 :1; + unsigned PMOD3 :1; + unsigned :5; +} PWMCON1BITS; +extern volatile PWMCON1BITS PWMCON1bits __attribute__((__sfr__)); + +/* PWMCON2: PWM Control Register 2 */ +extern volatile unsigned int PWMCON2 __attribute__((__sfr__)); +typedef struct tagPWMCON2BITS { + unsigned UDIS :1; + unsigned OSYNC :1; + unsigned IUE :1; + unsigned :5; + unsigned SEVOPS :4; + unsigned :4; +} PWMCON2BITS; +extern volatile PWMCON2BITS PWMCON2bits __attribute__((__sfr__)); + +/* DTCON1: PWM Dead Time Control Register 1 */ +extern volatile unsigned int DTCON1 __attribute__((__sfr__)); +typedef struct tagDTCON1BITS { + unsigned DTA :6; + unsigned DTAPS :2; + unsigned :8; +} DTCON1BITS; +extern volatile DTCON1BITS DTCON1bits __attribute__((__sfr__)); + +/* FLTACON: PWM Fault Input A Control Register */ +extern volatile unsigned int FLTACON __attribute__((__sfr__)); +typedef struct tagFLTACONBITS { + unsigned FAEN1 :1; + unsigned FAEN2 :1; + unsigned FAEN3 :1; + unsigned :4; + unsigned FLTAM :1; + unsigned FAOV1L :1; + unsigned FAOV1H :1; + unsigned FAOV2L :1; + unsigned FAOV2H :1; + unsigned FAOV3L :1; + unsigned FAOV3H :1; + unsigned :2; +} FLTACONBITS; +extern volatile FLTACONBITS FLTACONbits __attribute__((__sfr__)); + +/* OVDCON: PWM Override Control Register */ +extern volatile unsigned int OVDCON __attribute__((__sfr__)); +typedef struct tagOVDCONBITS { + unsigned POUT1L :1; + unsigned POUT1H :1; + unsigned POUT2L :1; + unsigned POUT2H :1; + unsigned POUT3L :1; + unsigned POUT3H :1; + unsigned :2; + unsigned POVD1L :1; + unsigned POVD1H :1; + unsigned POVD2L :1; + unsigned POVD2H :1; + unsigned POVD3L :1; + unsigned POVD3H :1; + unsigned :2; +} OVDCONBITS; +extern volatile OVDCONBITS OVDCONbits __attribute__((__sfr__)); + +/* PDC1: PWM Duty Cycle Register 1 */ +extern volatile unsigned int PDC1 __attribute__((__sfr__)); + +/* PDC2: PWM Duty Cycle Register 2 */ +extern volatile unsigned int PDC2 __attribute__((__sfr__)); + +/* PDC3: PWM Duty Cycle Register 3 */ +extern volatile unsigned int PDC3 __attribute__((__sfr__)); + + +/* ------------------------ */ +/* I2C register definitions */ +/* ------------------------ */ + +/* I2CRCV: I2C Receive Register */ +extern volatile unsigned char I2CRCV __attribute__((__sfr__)); +typedef struct tagI2CRCVBITS { + unsigned I2CRCV0:1; + unsigned I2CRCV1:1; + unsigned I2CRCV2:1; + unsigned I2CRCV3:1; + unsigned I2CRCV4:1; + unsigned I2CRCV5:1; + unsigned I2CRCV6:1; + unsigned I2CRCV7:1; +} I2CRCVBITS; +extern volatile I2CRCVBITS I2CRCVbits __attribute__((__sfr__)); + +/* I2CTRN: I2C Transmit Register */ +extern volatile unsigned char I2CTRN __attribute__((__sfr__)); +typedef struct tagI2CTRNBITS { + unsigned I2CTRN0:1; + unsigned I2CTRN1:1; + unsigned I2CTRN2:1; + unsigned I2CTRN3:1; + unsigned I2CTRN4:1; + unsigned I2CTRN5:1; + unsigned I2CTRN6:1; + unsigned I2CTRN7:1; +} I2CTRNBITS; +extern volatile I2CTRNBITS I2CTRNbits __attribute__((__sfr__)); + +/* I2CBRG: I2C Baud Rate Generator Register */ +extern volatile unsigned int I2CBRG __attribute__((__sfr__)); +typedef struct tagI2CBRGBITS { + unsigned I2CBRG :9; + unsigned :7; +} I2CBRGBITS; +extern volatile I2CBRGBITS I2CBRGbits __attribute__((__sfr__)); + +/* I2CCON: I2C Control Register */ +extern volatile unsigned int I2CCON __attribute__((__sfr__)); +typedef struct tagI2CCONBITS { + unsigned SEN :1; + unsigned RSEN :1; + unsigned PEN :1; + unsigned RCEN :1; + unsigned ACKEN :1; + unsigned ACKDT :1; + unsigned STREN :1; + unsigned GCEN :1; + unsigned SMEN :1; + unsigned DISSLW :1; + unsigned A10M :1; + unsigned IPMIEN :1; + unsigned SCLREL :1; + unsigned I2CSIDL:1; + unsigned :1; + unsigned I2CEN :1; +} I2CCONBITS; +extern volatile I2CCONBITS I2CCONbits __attribute__((__sfr__)); + +/* I2CSTAT: I2C Status Register */ +extern volatile unsigned int I2CSTAT __attribute__((__sfr__)); +typedef struct tagI2CSTATBITS { + unsigned TBF :1; + unsigned RBF :1; + unsigned R_W :1; + unsigned S :1; + unsigned P :1; + unsigned D_A :1; + unsigned I2COV :1; + unsigned IWCOL :1; + unsigned ADD10 :1; + unsigned GCSTAT :1; + unsigned BCL :1; + unsigned :3; + unsigned TRSTAT :1; + unsigned ACKSTAT:1; +} I2CSTATBITS; +extern volatile I2CSTATBITS I2CSTATbits __attribute__((__sfr__)); + +/* I2CADD: I2C Address Register */ +extern volatile unsigned int I2CADD __attribute__((__sfr__)); +typedef struct tagI2CADDBITS { + unsigned I2CADD :10; + unsigned :6; +} I2CADDBITS; +extern volatile I2CADDBITS I2CADDbits __attribute__((__sfr__)); + + +/* -------------------------- */ +/* UART1 register definitions */ +/* -------------------------- */ + +/* Generic structure of entire SFR area for each UART module */ +typedef struct tagUART { + unsigned int uxmode; + unsigned int uxsta; + unsigned int uxtxreg; + unsigned int uxrxreg; + unsigned int uxbrg; +} UART, *PUART; + +/* SFR blocks for each UART module */ +extern volatile UART UART1 __attribute__((__sfr__)); + +/* Generic structure for UART Mode Registers */ +typedef struct tagUxMODEBITS { + unsigned STSEL :1; + unsigned PDSEL :2; + unsigned :2; + unsigned ABAUD :1; + unsigned LPBACK :1; + unsigned WAKE :1; + unsigned :2; + unsigned ALTIO :1; + unsigned :2; + unsigned USIDL :1; + unsigned :1; + unsigned UARTEN :1; +} UxMODEBITS; + +/* Generic structure for UART Status and Control Registers */ +typedef struct tagUxSTABITS { + unsigned URXDA :1; + unsigned OERR :1; + unsigned FERR :1; + unsigned PERR :1; + unsigned RIDLE :1; + unsigned ADDEN :1; + unsigned URXISEL:2; + unsigned TRMT :1; + unsigned UTXBF :1; + unsigned UTXEN :1; + unsigned UTXBRK :1; + unsigned :3; + unsigned UTXISEL:1; +} UxSTABITS; + +/* Generic structure for UART Transmit Registers */ +typedef struct tagUxTXREGBITS { + unsigned UTXREG0:1; + unsigned UTXREG1:1; + unsigned UTXREG2:1; + unsigned UTXREG3:1; + unsigned UTXREG4:1; + unsigned UTXREG5:1; + unsigned UTXREG6:1; + unsigned UTXREG7:1; + unsigned UTX8 :1; + unsigned :7; +} UxTXREGBITS; + +/* Generic structure for UART Receive Registers */ +typedef struct tagUxRXREGBITS { + unsigned URXREG0:1; + unsigned URXREG1:1; + unsigned URXREG2:1; + unsigned URXREG3:1; + unsigned URXREG4:1; + unsigned URXREG5:1; + unsigned URXREG6:1; + unsigned URXREG7:1; + unsigned URX8 :1; + unsigned :7; +} UxRXREGBITS; + +/* U1MODE: UART1 Mode Regsiter */ +extern volatile unsigned int U1MODE __attribute__((__sfr__)); +extern volatile UxMODEBITS U1MODEbits __attribute__((__sfr__)); + +/* U1STA: UART1 Status and Control Register */ +extern volatile unsigned int U1STA __attribute__((__sfr__)); +extern volatile UxSTABITS U1STAbits __attribute__((__sfr__)); + +/* U1TXREG: UART1 Transmit Register */ +extern volatile unsigned int U1TXREG __attribute__((__sfr__)); +extern volatile UxTXREGBITS U1TXREGbits __attribute__((__sfr__)); + +/* U1RXREG: UART1 Receive Register */ +extern volatile unsigned int U1RXREG __attribute__((__sfr__)); +extern volatile UxRXREGBITS U1RXREGbits __attribute__((__sfr__)); + +/* U1BRG: UART1 Baud Rate Generator Register */ +extern volatile unsigned int U1BRG __attribute__((__sfr__)); + + +/* ------------------------- */ +/* SPI1 register definitions */ +/* ------------------------- */ + +/* Generic structure of entire SFR area for each SPI module */ +typedef struct tagSPI { + unsigned int spixstat; + unsigned int spixcon; + unsigned int spixbuf; +} SPI, *PSPI; + +/* SFR blocks for each SPI module */ +extern volatile SPI SPI1 __attribute__((__sfr__)); + +/* Generic structure for SPI Status Registers */ +typedef struct tagSPIxSTATBITS { + unsigned SPIRBF :1; + unsigned SPITBF :1; + unsigned :4; + unsigned SPIROV :1; + unsigned :6; + unsigned SPISIDL:1; + unsigned :1; + unsigned SPIEN :1; +} SPIxSTATBITS; + +/* Generic structure for SPI Control Registers */ +typedef struct tagSPIxCONBITS { + unsigned PPRE :2; + unsigned SPRE :3; + unsigned MSTEN :1; + unsigned CKP :1; + unsigned SSEN :1; + unsigned CKE :1; + unsigned SMP :1; + unsigned MODE16 :1; + unsigned DISSDO :1; + unsigned :1; + unsigned SPIFSD:1; + unsigned FRMEN :1; + unsigned :1; +} SPIxCONBITS; + +/* SPI1STAT: SPI1 Status Register */ +extern volatile unsigned int SPI1STAT __attribute__((__sfr__)); +extern volatile SPIxSTATBITS SPI1STATbits __attribute__((__sfr__)); + +/* SPI1CON: SPI1 Control Register */ +extern volatile unsigned int SPI1CON __attribute__((__sfr__)); +extern volatile SPIxCONBITS SPI1CONbits __attribute__((__sfr__)); + +/* SPI1BUF: SPI1 Buffer */ +extern volatile unsigned int SPI1BUF __attribute__((__sfr__)); + + +/* ------------------------------------------------------------------ */ +/* 10-bit (500 ksps) Analog-to-Digital Converter register definitions */ +/* ------------------------------------------------------------------ */ + +/* ADC Buffers 0-F */ +extern volatile unsigned int ADCBUF0 __attribute__((__sfr__)); +extern volatile unsigned int ADCBUF1 __attribute__((__sfr__)); +extern volatile unsigned int ADCBUF2 __attribute__((__sfr__)); +extern volatile unsigned int ADCBUF3 __attribute__((__sfr__)); +extern volatile unsigned int ADCBUF4 __attribute__((__sfr__)); +extern volatile unsigned int ADCBUF5 __attribute__((__sfr__)); +extern volatile unsigned int ADCBUF6 __attribute__((__sfr__)); +extern volatile unsigned int ADCBUF7 __attribute__((__sfr__)); +extern volatile unsigned int ADCBUF8 __attribute__((__sfr__)); +extern volatile unsigned int ADCBUF9 __attribute__((__sfr__)); +extern volatile unsigned int ADCBUFA __attribute__((__sfr__)); +extern volatile unsigned int ADCBUFB __attribute__((__sfr__)); +extern volatile unsigned int ADCBUFC __attribute__((__sfr__)); +extern volatile unsigned int ADCBUFD __attribute__((__sfr__)); +extern volatile unsigned int ADCBUFE __attribute__((__sfr__)); +extern volatile unsigned int ADCBUFF __attribute__((__sfr__)); + +/* ADCON1: ADC Control Register 1 */ +extern volatile unsigned int ADCON1 __attribute__((__sfr__)); +typedef struct tagADCON1BITS { + unsigned DONE :1; + unsigned SAMP :1; + unsigned ASAM :1; + unsigned SIMSAM :1; + unsigned :1; + unsigned SSRC :3; + unsigned FORM :2; + unsigned :3; + unsigned ADSIDL :1; + unsigned :1; + unsigned ADON :1; +} ADCON1BITS; +extern volatile ADCON1BITS ADCON1bits __attribute__((__sfr__)); + +/* ADCON2: ADC Control Register 2 */ +extern volatile unsigned int ADCON2 __attribute__((__sfr__)); +typedef struct tagADCON2BITS { + unsigned ALTS :1; + unsigned BUFM :1; + unsigned SMPI :4; + unsigned :1; + unsigned BUFS :1; + unsigned CHPS :2; + unsigned CSCNA :1; + unsigned :2; + unsigned VCFG :3; +} ADCON2BITS; +extern volatile ADCON2BITS ADCON2bits __attribute__((__sfr__)); + +/* ADCON3: ADC Control Register 3 */ +extern volatile unsigned int ADCON3 __attribute__((__sfr__)); +typedef struct tagADCON3BITS { + unsigned ADCS :6; + unsigned :1; + unsigned ADRC :1; + unsigned SAMC :5; + unsigned :3; +} ADCON3BITS; +extern volatile ADCON3BITS ADCON3bits __attribute__((__sfr__)); + +/* ADCHS: ADC Input Channel Select Register */ +extern volatile unsigned int ADCHS __attribute__((__sfr__)); +typedef struct tagADCHSBITS { + unsigned CH0SA :4; + unsigned CH0NA :1; + unsigned CH123SA:1; + unsigned CH123NA:2; + unsigned CH0SB :4; + unsigned CH0NB :1; + unsigned CH123SB:1; + unsigned CH123NB:2; +} ADCHSBITS; +extern volatile ADCHSBITS ADCHSbits __attribute__((__sfr__)); + +/* ADPCFG: ADC Port Configuration Register */ +extern volatile unsigned int ADPCFG __attribute__((__sfr__)); +typedef struct tagADPCFGBITS { + unsigned PCFG0 :1; + unsigned PCFG1 :1; + unsigned PCFG2 :1; + unsigned PCFG3 :1; + unsigned PCFG4 :1; + unsigned PCFG5 :1; + unsigned :10; +} ADPCFGBITS; +extern volatile ADPCFGBITS ADPCFGbits __attribute__((__sfr__)); + +/* ADCSSL: ADC Input Scan Select Register */ +extern volatile unsigned int ADCSSL __attribute__((__sfr__)); +typedef struct tagADCSSLBITS { + unsigned CSSL0 :1; + unsigned CSSL1 :1; + unsigned CSSL2 :1; + unsigned CSSL3 :1; + unsigned CSSL4 :1; + unsigned CSSL5 :1; + unsigned :10; +} ADCSSLBITS; +extern volatile ADCSSLBITS ADCSSLbits __attribute__((__sfr__)); + + +/* ------------------------------ */ +/* I/O Ports register definitions */ +/* ------------------------------ */ + +/* TRISB: Port B Direction Control Register */ +extern volatile unsigned int TRISB __attribute__((__sfr__)); +typedef struct tagTRISBBITS { + unsigned TRISB0 :1; + unsigned TRISB1 :1; + unsigned TRISB2 :1; + unsigned TRISB3 :1; + unsigned TRISB4 :1; + unsigned TRISB5 :1; + unsigned :10; +} TRISBBITS; +extern volatile TRISBBITS TRISBbits __attribute__((__sfr__)); + +/* PORTB: Port B Pin Register */ +extern volatile unsigned int PORTB __attribute__((__sfr__)); +typedef struct tagPORTBBITS { + unsigned RB0 :1; + unsigned RB1 :1; + unsigned RB2 :1; + unsigned RB3 :1; + unsigned RB4 :1; + unsigned RB5 :1; + unsigned :10; +} PORTBBITS; +extern volatile PORTBBITS PORTBbits __attribute__((__sfr__)); + +/* LATB: Port B Latch Register */ +extern volatile unsigned int LATB __attribute__((__sfr__)); +typedef struct tagLATBBITS { + unsigned LATB0 :1; + unsigned LATB1 :1; + unsigned LATB2 :1; + unsigned LATB3 :1; + unsigned LATB4 :1; + unsigned LATB5 :1; + unsigned :10; +} LATBBITS; +extern volatile LATBBITS LATBbits __attribute__((__sfr__)); + +/* TRISC: Port C Direction Control Register */ +extern volatile unsigned int TRISC __attribute__((__sfr__)); +typedef struct tagTRISCBITS { + unsigned :13; + unsigned TRISC13:1; + unsigned TRISC14:1; + unsigned TRISC15:1; +} TRISCBITS; +extern volatile TRISCBITS TRISCbits __attribute__((__sfr__)); + +/* PORTC: Port C Pin Register */ +extern volatile unsigned int PORTC __attribute__((__sfr__)); +typedef struct tagPORTCBITS { + unsigned :13; + unsigned RC13 :1; + unsigned RC14 :1; + unsigned RC15 :1; +} PORTCBITS; +extern volatile PORTCBITS PORTCbits __attribute__((__sfr__)); + +/* LATC: Port C Latch Register */ +extern volatile unsigned int LATC __attribute__((__sfr__)); +typedef struct tagLATCBITS { + unsigned :13; + unsigned LATC13 :1; + unsigned LATC14 :1; + unsigned LATC15 :1; +} LATCBITS; +extern volatile LATCBITS LATCbits __attribute__((__sfr__)); + +/* TRISD: Port D Direction Control Register */ +extern volatile unsigned int TRISD __attribute__((__sfr__)); +typedef struct tagTRISDBITS { + unsigned TRISD0 :1; + unsigned TRISD1 :1; + unsigned :14; +} TRISDBITS; +extern volatile TRISDBITS TRISDbits __attribute__((__sfr__)); + +/* PORTD: Port D Pin Register */ +extern volatile unsigned int PORTD __attribute__((__sfr__)); +typedef struct tagPORTDBITS { + unsigned RD0 :1; + unsigned RD1 :1; + unsigned :14; +} PORTDBITS; +extern volatile PORTDBITS PORTDbits __attribute__((__sfr__)); + +/* LATD: Port D Latch Register */ +extern volatile unsigned int LATD __attribute__((__sfr__)); +typedef struct tagLATDBITS { + unsigned LATD0 :1; + unsigned LATD1 :1; + unsigned :14; +} LATDBITS; +extern volatile LATDBITS LATDbits __attribute__((__sfr__)); + +/* TRISE: Port E Direction Control Register */ +extern volatile unsigned int TRISE __attribute__((__sfr__)); +typedef struct tagTRISEBITS { + unsigned TRISE0 :1; + unsigned TRISE1 :1; + unsigned TRISE2 :1; + unsigned TRISE3 :1; + unsigned TRISE4 :1; + unsigned TRISE5 :1; + unsigned :2; + unsigned TRISE8 :1; + unsigned :7; +} TRISEBITS; +extern volatile TRISEBITS TRISEbits __attribute__((__sfr__)); + +/* PORTE: Port E Pin Register */ +extern volatile unsigned int PORTE __attribute__((__sfr__)); +typedef struct tagPORTEBITS { + unsigned RE0 :1; + unsigned RE1 :1; + unsigned RE2 :1; + unsigned RE3 :1; + unsigned RE4 :1; + unsigned RE5 :1; + unsigned :2; + unsigned RE8 :1; + unsigned :7; +} PORTEBITS; +extern volatile PORTEBITS PORTEbits __attribute__((__sfr__)); + +/* LATE: Port E Latch Register */ +extern volatile unsigned int LATE __attribute__((__sfr__)); +typedef struct tagLATEBITS { + unsigned LATE0 :1; + unsigned LATE1 :1; + unsigned LATE2 :1; + unsigned LATE3 :1; + unsigned LATE4 :1; + unsigned LATE5 :1; + unsigned :2; + unsigned LATE8 :1; + unsigned :7; +} LATEBITS; +extern volatile LATEBITS LATEbits __attribute__((__sfr__)); + +/* TRISF: Port F Direction Control Register */ +extern volatile unsigned int TRISF __attribute__((__sfr__)); +typedef struct tagTRISFBITS { + unsigned :2; + unsigned TRISF2 :1; + unsigned TRISF3 :1; + unsigned :12; +} TRISFBITS; +extern volatile TRISFBITS TRISFbits __attribute__((__sfr__)); + +/* PORTF: Port F Pin Register */ +extern volatile unsigned int PORTF __attribute__((__sfr__)); +typedef struct tagPORTFBITS { + unsigned :2; + unsigned RF2 :1; + unsigned RF3 :1; + unsigned :12; +} PORTFBITS; +extern volatile PORTFBITS PORTFbits __attribute__((__sfr__)); + +/* LATF: Port F Latch Register */ +extern volatile unsigned int LATF __attribute__((__sfr__)); +typedef struct tagLATFBITS { + unsigned :2; + unsigned LATF2 :1; + unsigned LATF3 :1; + unsigned :12; +} LATFBITS; +extern volatile LATFBITS LATFbits __attribute__((__sfr__)); + + +/* ------------------------- */ +/* CAN1 register definitions */ +/* ------------------------- */ + +/* Generic structure of entire SFR area for each CAN module */ +typedef struct tagCAN { + unsigned int cxrxf0sid; + unsigned int cxrxf0eidh; + unsigned int cxrxf0eidl; + unsigned int reserved0; + unsigned int cxrxf1sid; + unsigned int cxrxf1eidh; + unsigned int cxrxf1eidl; + unsigned int reserved1; + unsigned int cxrxf2sid; + unsigned int cxrxf2eidh; + unsigned int cxrxf2eidl; + unsigned int reserved2; + unsigned int cxrxf3sid; + unsigned int cxrxf3eidh; + unsigned int cxrxf3eidl; + unsigned int reserved3; + unsigned int cxrxf4sid; + unsigned int cxrxf4eidh; + unsigned int cxrxf4eidl; + unsigned int reserved4; + unsigned int cxrxf5sid; + unsigned int cxrxf5eidh; + unsigned int cxrxf5eidl; + unsigned int reserved5; + unsigned int cxrxm0sid; + unsigned int cxrxm0eidh; + unsigned int cxrxm0eidl; + unsigned int reserved6; + unsigned int cxrxm1sid; + unsigned int cxrxm1eidh; + unsigned int cxrxm1eidl; + unsigned int reserved7; + unsigned int cxtx2sid; + unsigned int cxtx2eid; + unsigned int cxtx2dlc; + unsigned int cxtx2b1; + unsigned int cxtx2b2; + unsigned int cxtx2b3; + unsigned int cxtx2b4; + unsigned int cxtx2con; + unsigned int cxtx1sid; + unsigned int cxtx1eid; + unsigned int cxtx1dlc; + unsigned int cxtx1b1; + unsigned int cxtx1b2; + unsigned int cxtx1b3; + unsigned int cxtx1b4; + unsigned int cxtx1con; + unsigned int cxtx0sid; + unsigned int cxtx0eid; + unsigned int cxtx0dlc; + unsigned int cxtx0b1; + unsigned int cxtx0b2; + unsigned int cxtx0b3; + unsigned int cxtx0b4; + unsigned int cxtx0con; + unsigned int cxrx1sid; + unsigned int cxrx1eid; + unsigned int cxrx1dlc; + unsigned int cxrx1b1; + unsigned int cxrx1b2; + unsigned int cxrx1b3; + unsigned int cxrx1b4; + unsigned int cxrx1con; + unsigned int cxrx0sid; + unsigned int cxrx0eid; + unsigned int cxrx0dlc; + unsigned int cxrx0b1; + unsigned int cxrx0b2; + unsigned int cxrx0b3; + unsigned int cxrx0b4; + unsigned int cxrx0con; + unsigned int cxctrl; + unsigned int cxcfg1; + unsigned int cxcfg2; + unsigned int cxintf; + unsigned int cxinte; + unsigned int cxec; + unsigned int reserved8[50]; +} CAN, *PCAN; + +/* SFR blocks for each CAN module */ +extern volatile CAN CAN1 __attribute__((__sfr__)); + +/* Generic structure for CAN Receive Filter Standard Identifier Register */ +typedef struct tagCxRXFxSIDBITS { + unsigned EXIDE :1; + unsigned :1; + unsigned SID :11; + unsigned :3; +} CxRXFxSIDBITS; + +/* C1RXF0SID: CAN1 Receive Filter 0 SID Register */ +extern volatile unsigned int C1RXF0SID __attribute__((__sfr__)); +extern volatile CxRXFxSIDBITS C1RXF0SIDbits __attribute__((__sfr__)); + +/* C1RXF0EIDH: CAN1 Receive Filter 0 EIDH Register */ +extern volatile unsigned int C1RXF0EIDH __attribute__((__sfr__)); + +/* C1RXF0EIDL: CAN1 Receive Filter 0 EIDL Register */ +extern volatile unsigned int C1RXF0EIDL __attribute__((__sfr__)); + +/* C1RXF1SID: CAN1 Receive Filter 1 SID Register */ +extern volatile unsigned int C1RXF1SID __attribute__((__sfr__)); +extern volatile CxRXFxSIDBITS C1RXF1SIDbits __attribute__((__sfr__)); + +/* C1RXF1EIDH: CAN1 Receive Filter 1 EIDH Register */ +extern volatile unsigned int C1RXF1EIDH __attribute__((__sfr__)); + +/* C1RXF1EIDL: CAN1 Receive Filter 1 EIDL Register */ +extern volatile unsigned int C1RXF1EIDL __attribute__((__sfr__)); + +/* C1RXF2SID: CAN1 Receive Filter 2 SID Register */ +extern volatile unsigned int C1RXF2SID __attribute__((__sfr__)); +extern volatile CxRXFxSIDBITS C1RXF2SIDbits __attribute__((__sfr__)); + +/* C1RXF2EIDH: CAN1 Receive Filter 2 EIDH Register */ +extern volatile unsigned int C1RXF2EIDH __attribute__((__sfr__)); + +/* C1RXF2EIDL: CAN1 Receive Filter 2 EIDL Register */ +extern volatile unsigned int C1RXF2EIDL __attribute__((__sfr__)); + +/* C1RXF3SID: CAN1 Receive Filter 3 SID Register */ +extern volatile unsigned int C1RXF3SID __attribute__((__sfr__)); +extern volatile CxRXFxSIDBITS C1RXF3SIDbits __attribute__((__sfr__)); + +/* C1RXF3EIDH: CAN1 Receive Filter 3 EIDH Register */ +extern volatile unsigned int C1RXF3EIDH __attribute__((__sfr__)); + +/* C1RXF3EIDL: CAN1 Receive Filter 3 EIDL Register */ +extern volatile unsigned int C1RXF3EIDL __attribute__((__sfr__)); + +/* C1RXF4SID: CAN1 Receive Filter 4 SID Register */ +extern volatile unsigned int C1RXF4SID __attribute__((__sfr__)); +extern volatile CxRXFxSIDBITS C1RXF4SIDbits __attribute__((__sfr__)); + +/* C1RXF4EIDH: CAN1 Receive Filter 4 EIDH Register */ +extern volatile unsigned int C1RXF4EIDH __attribute__((__sfr__)); + +/* C1RXF4EIDL: CAN1 Receive Filter 4 EIDL Register */ +extern volatile unsigned int C1RXF4EIDL __attribute__((__sfr__)); + +/* C1RXF5SID: CAN1 Receive Filter 5 SID Register */ +extern volatile unsigned int C1RXF5SID __attribute__((__sfr__)); +extern volatile CxRXFxSIDBITS C1RXF5SIDbits __attribute__((__sfr__)); + +/* C1RXF5EIDH: CAN1 Receive Filter 5 EIDH Register */ +extern volatile unsigned int C1RXF5EIDH __attribute__((__sfr__)); + +/* C1RXF5EIDL: CAN1 Receive Filter 5 EIDL Register */ +extern volatile unsigned int C1RXF5EIDL __attribute__((__sfr__)); + +/* Generic structure for CAN Receive Mask Standard Identifier Register */ +typedef struct tagCxRXMxSIDBITS { + unsigned MIDE :1; + unsigned :1; + unsigned SID :11; + unsigned :3; +} CxRXMxSIDBITS; + +/* C1RXM0SID: CAN1 Receive Mask 0 SID Register */ +extern volatile unsigned int C1RXM0SID __attribute__((__sfr__)); +extern volatile CxRXMxSIDBITS C1RXM0SIDbits __attribute__((__sfr__)); + +/* C1RXM0EIDH: CAN1 Receive Mask 0 EIDH Register */ +extern volatile unsigned int C1RXM0EIDH __attribute__((__sfr__)); + +/* C1RXM0EIDL: CAN1 Receive Mask 0 EIDL Register */ +extern volatile unsigned int C1RXM0EIDL __attribute__((__sfr__)); + +/* C1RXM1SID: CAN1 Receive Mask 1 SID Register */ +extern volatile unsigned int C1RXM1SID __attribute__((__sfr__)); +extern volatile CxRXMxSIDBITS C1RXM1SIDbits __attribute__((__sfr__)); + +/* C1RXM1EIDH: CAN1 Receive Mask 1 EIDH Register */ +extern volatile unsigned int C1RXM1EIDH __attribute__((__sfr__)); + +/* C1RXM1EIDL: CAN1 Receive Mask 1 EIDL Register */ +extern volatile unsigned int C1RXM1EIDL __attribute__((__sfr__)); + +/* Generic structure for CAN Transmit Standard Identifier Register */ +typedef struct tagCxTXxSIDBITS { + unsigned TXIDE :1; + unsigned SRR :1; + unsigned SID5_0 :6; + unsigned :3; + unsigned SID10_6:5; +} CxTXxSIDBITS; + +/* Generic structure for CAN Transmit Extended Identifier Register */ +typedef struct tagCxTXxEIDBITS { + unsigned EID13_6:8; + unsigned :4; + unsigned EID17_14:4; +} CxTXxEIDBITS; + +/* Generic structure for CAN Transmit Data Length Code Register */ +typedef struct tagCxTXxDLCBITS { + unsigned :3; + unsigned DLC :4; + unsigned TXRB0 :1; + unsigned TXRB1 :1; + unsigned TXRTR :1; + unsigned EID5_0 :6; +} CxTXxDLCBITS; + +/* Generic structure for CAN Transmit Control Register */ +typedef struct tagCxTXxCONBITS { + unsigned TXPRI :2; + unsigned :1; + unsigned TXREQ :1; + unsigned TXERR :1; + unsigned TXLARB :1; + unsigned TXABT :1; + unsigned :9; +} CxTXxCONBITS; + +/* C1TX2SID: CAN1 Transmit 2 SID Register */ +extern volatile unsigned int C1TX2SID __attribute__((__sfr__)); +extern volatile CxTXxSIDBITS C1TX2SIDbits __attribute__((__sfr__)); + +/* C1TX2EID: CAN1 Transmit 2 EID Register */ +extern volatile unsigned int C1TX2EID __attribute__((__sfr__)); +extern volatile CxTXxEIDBITS C1TX2EIDbits __attribute__((__sfr__)); + +/* C1TX2DLC: CAN1 Transmit 2 DLC Register */ +extern volatile unsigned int C1TX2DLC __attribute__((__sfr__)); +extern volatile CxTXxDLCBITS C1TX2DLCbits __attribute__((__sfr__)); + +/* C1TX2B1: CAN1 Transmit 2 Buffer Word 1 */ +extern volatile unsigned int C1TX2B1 __attribute__((__sfr__)); + +/* C1TX2B2: CAN1 Transmit 2 Buffer Word 2 */ +extern volatile unsigned int C1TX2B2 __attribute__((__sfr__)); + +/* C1TX2B3: CAN1 Transmit 2 Buffer Word 3 */ +extern volatile unsigned int C1TX2B3 __attribute__((__sfr__)); + +/* C1TX2B4: CAN1 Transmit 2 Buffer Word 4 */ +extern volatile unsigned int C1TX2B4 __attribute__((__sfr__)); + +/* C1TX2CON: CAN1 Transmit 2 Control Register */ +extern volatile unsigned int C1TX2CON __attribute__((__sfr__)); +extern volatile CxTXxCONBITS C1TX2CONbits __attribute__((__sfr__)); + +/* C1TX1SID: CAN1 Transmit 1 SID Register */ +extern volatile unsigned int C1TX1SID __attribute__((__sfr__)); +extern volatile CxTXxSIDBITS C1TX1SIDbits __attribute__((__sfr__)); + +/* C1TX1EID: CAN1 Transmit 1 EID Register */ +extern volatile unsigned int C1TX1EID __attribute__((__sfr__)); +extern volatile CxTXxEIDBITS C1TX1EIDbits __attribute__((__sfr__)); + +/* C1TX1DLC: CAN1 Transmit 1 DLC Register */ +extern volatile unsigned int C1TX1DLC __attribute__((__sfr__)); +extern volatile CxTXxDLCBITS C1TX1DLCbits __attribute__((__sfr__)); + +/* C1TX1B1: CAN1 Transmit 1 Buffer Word 1 */ +extern volatile unsigned int C1TX1B1 __attribute__((__sfr__)); + +/* C1TX1B2: CAN1 Transmit 1 Buffer Word 2 */ +extern volatile unsigned int C1TX1B2 __attribute__((__sfr__)); + +/* C1TX1B3: CAN1 Transmit 1 Buffer Word 3 */ +extern volatile unsigned int C1TX1B3 __attribute__((__sfr__)); + +/* C1TX1B4: CAN1 Transmit 1 Buffer Word 4 */ +extern volatile unsigned int C1TX1B4 __attribute__((__sfr__)); + +/* C1TX1CON: CAN1 Transmit 1 Control Register */ +extern volatile unsigned int C1TX1CON __attribute__((__sfr__)); +extern volatile CxTXxCONBITS C1TX1CONbits __attribute__((__sfr__)); + +/* C1TX0SID: CAN1 Transmit 0 SID Register */ +extern volatile unsigned int C1TX0SID __attribute__((__sfr__)); +extern volatile CxTXxSIDBITS C1TX0SIDbits __attribute__((__sfr__)); + +/* C1TX0EID: CAN1 Transmit 0 EID Register */ +extern volatile unsigned int C1TX0EID __attribute__((__sfr__)); +extern volatile CxTXxEIDBITS C1TX0EIDbits __attribute__((__sfr__)); + +/* C1TX0DLC: CAN1 Transmit 0 DLC Register */ +extern volatile unsigned int C1TX0DLC __attribute__((__sfr__)); +extern volatile CxTXxDLCBITS C1TX0DLCbits __attribute__((__sfr__)); + +/* C1TX0B1: CAN1 Transmit 0 Buffer Word 1 */ +extern volatile unsigned int C1TX0B1 __attribute__((__sfr__)); + +/* C1TX0B2: CAN1 Transmit 0 Buffer Word 2 */ +extern volatile unsigned int C1TX0B2 __attribute__((__sfr__)); + +/* C1TX0B3: CAN1 Transmit 0 Buffer Word 3 */ +extern volatile unsigned int C1TX0B3 __attribute__((__sfr__)); + +/* C1TX0B4: CAN1 Transmit 0 Buffer Word 4 */ +extern volatile unsigned int C1TX0B4 __attribute__((__sfr__)); + +/* C1TX0CON: CAN1 Transmit 0 Control Register */ +extern volatile unsigned int C1TX0CON __attribute__((__sfr__)); +extern volatile CxTXxCONBITS C1TX0CONbits __attribute__((__sfr__)); + +/* Generic structure for CAN Receive Standard Identifier Register */ +typedef struct tagCxRXxSIDBITS { + unsigned RXIDE :1; + unsigned SRR :1; + unsigned SID :11; + unsigned :3; +} CxRXxSIDBITS; + +/* Generic structure for CAN Receive Data Length Code Register */ +typedef struct tagCxRXxDLCBITS { + unsigned DLC :4; + unsigned RXRB0 :1; + unsigned :3; + unsigned RXRB1 :1; + unsigned RXRTR :1; + unsigned EID5_0 :6; +} CxRXxDLCBITS; + +/* Generic structure for CAN Receive 1 Control Register */ +typedef struct tagCxRX1CONBITS { + unsigned FILHIT :3; + unsigned RXRTRRO:1; + unsigned :3; + unsigned RXFUL :1; + unsigned :8; +} CxRX1CONBITS; + +/* C1RX1SID: CAN1 Receive 1 SID Register */ +extern volatile unsigned int C1RX1SID __attribute__((__sfr__)); +extern volatile CxRXxSIDBITS C1RX1SIDbits __attribute__((__sfr__)); + +/* C1RX1EID: CAN1 Receive 1 EID Register */ +extern volatile unsigned int C1RX1EID __attribute__((__sfr__)); + +/* C1RX1DLC: CAN1 Receive 1 DLC Register */ +extern volatile unsigned int C1RX1DLC __attribute__((__sfr__)); +extern volatile CxRXxDLCBITS C1RX1DLCbits __attribute__((__sfr__)); + +/* C1RX1B1: CAN1 Receive 1 Buffer Word 1 */ +extern volatile unsigned int C1RX1B1 __attribute__((__sfr__)); + +/* C1RX1B2: CAN1 Receive 1 Buffer Word 2 */ +extern volatile unsigned int C1RX1B2 __attribute__((__sfr__)); + +/* C1RX1B3: CAN1 Receive 1 Buffer Word 3 */ +extern volatile unsigned int C1RX1B3 __attribute__((__sfr__)); + +/* C1RX1B4: CAN1 Receive 1 Buffer Word 4 */ +extern volatile unsigned int C1RX1B4 __attribute__((__sfr__)); + +/* C1RX1CON: CAN1 Receive 1 Control Register */ +extern volatile unsigned int C1RX1CON __attribute__((__sfr__)); +extern volatile CxRX1CONBITS C1RX1CONbits __attribute__((__sfr__)); + +/* Generic structure for CAN Receive 0 Control Register */ +typedef struct tagCxRX0CONBITS { + unsigned FILHIT0:1; + unsigned JTOFF :1; + unsigned DBEN :1; + unsigned RXRTRRO:1; + unsigned :3; + unsigned RXFUL :1; + unsigned :8; +} CxRX0CONBITS; + +/* C1RX0SID: CAN1 Receive 0 SID Register */ +extern volatile unsigned int C1RX0SID __attribute__((__sfr__)); +extern volatile CxRXxSIDBITS C1RX0SIDbits __attribute__((__sfr__)); + +/* C1RX0EID: CAN1 Receive 0 EID Register */ +extern volatile unsigned int C1RX0EID __attribute__((__sfr__)); + +/* C1RX0DLC: CAN1 Receive 0 DLC Register */ +extern volatile unsigned int C1RX0DLC __attribute__((__sfr__)); +extern volatile CxRXxDLCBITS C1RX0DLCbits __attribute__((__sfr__)); + +/* C1RX0B1: CAN1 Receive 0 Buffer Word 1 */ +extern volatile unsigned int C1RX0B1 __attribute__((__sfr__)); + +/* C1RX0B2: CAN1 Receive 0 Buffer Word 2 */ +extern volatile unsigned int C1RX0B2 __attribute__((__sfr__)); + +/* C1RX0B3: CAN1 Receive 0 Buffer Word 3 */ +extern volatile unsigned int C1RX0B3 __attribute__((__sfr__)); + +/* C1RX0B4: CAN1 Receive 0 Buffer Word 4 */ +extern volatile unsigned int C1RX0B4 __attribute__((__sfr__)); + +/* C1RX0CON: CAN1 Receive 0 Control Register */ +extern volatile unsigned int C1RX0CON __attribute__((__sfr__)); +extern volatile CxRX0CONBITS C1RX0CONbits __attribute__((__sfr__)); + +/* C1CTRL: CAN1 Control Register */ +extern volatile unsigned int C1CTRL __attribute__((__sfr__)); +typedef struct tagCxCTRLBITS { + unsigned :1; + unsigned ICODE :3; + unsigned :1; + unsigned OPMODE :3; + unsigned REQOP :3; + unsigned CANCKS :1; + unsigned ABAT :1; + unsigned CSIDL :1; + unsigned :1; + unsigned CANCAP :1; +} CxCTRLBITS; +extern volatile CxCTRLBITS C1CTRLbits __attribute__((__sfr__)); + +/* C1CFG1: CAN1 Baud Rate Control Register 1 */ +extern volatile unsigned int C1CFG1 __attribute__((__sfr__)); +typedef struct tagCxCFG1BITS { + unsigned BRP :6; + unsigned SJW :2; + unsigned :8; +} CxCFG1BITS; +extern volatile CxCFG1BITS C1CFG1bits __attribute__((__sfr__)); + +/* C1CFG2: CAN1 Baud Rate Control Register 2 */ +extern volatile unsigned int C1CFG2 __attribute__((__sfr__)); +typedef struct tagCxCFG2BITS { + unsigned PRSEG :3; + unsigned SEG1PH :3; + unsigned SAM :1; + unsigned SEG2PHTS:1; + unsigned SEG2PH :3; + unsigned :3; + unsigned WAKFIL :1; + unsigned :1; +} CxCFG2BITS; +extern volatile CxCFG2BITS C1CFG2bits __attribute__((__sfr__)); + +/* C1INTF: CAN1 Interrupt Flag Status Register */ +extern volatile unsigned int C1INTF __attribute__((__sfr__)); +typedef struct tagCxINTFBITS { + unsigned RX0IF :1; + unsigned RX1IF :1; + unsigned TX0IF :1; + unsigned TX1IF :1; + unsigned TX2IF :1; + unsigned ERRIF :1; + unsigned WAKIF :1; + unsigned IVRIF :1; + unsigned EWARN :1; + unsigned RXWAR :1; + unsigned TXWAR :1; + unsigned RXEP :1; + unsigned TXEP :1; + unsigned TXBO :1; + unsigned RX1OVR :1; + unsigned RX0OVR :1; +} CxINTFBITS; +extern volatile CxINTFBITS C1INTFbits __attribute__((__sfr__)); + +/* C1INTE: CAN1 Interrupt Enable Control Register */ +extern volatile unsigned int C1INTE __attribute__((__sfr__)); +typedef struct tagCxINTEBITS { + unsigned RX0IE :1; + unsigned RX1IE :1; + unsigned TX0IE :1; + unsigned TX1IE :1; + unsigned TX2IE :1; + unsigned ERRIE :1; + unsigned WAKIE :1; + unsigned IVRIE :1; + unsigned :8; +} CxINTEBITS; +extern volatile CxINTEBITS C1INTEbits __attribute__((__sfr__)); + +/* C1EC: CAN1 Error Count Register */ +extern volatile unsigned int C1EC __attribute__((__sfr__)); + +/* C1RERRCNT: CAN1 Receive Error Count (C1EC low byte) */ +extern volatile unsigned char C1RERRCNT __attribute__((__sfr__)); + +/* C1TERRCNT: CAN1 Transmit Error Count (C1EC high byte) */ +extern volatile unsigned char C1TERRCNT __attribute__((__sfr__)); + + +/* --------------------------------------- */ +/* System Integration register definitions */ +/* --------------------------------------- */ + +/* RCON: Reset Control Register */ +extern volatile unsigned int RCON __attribute__((__sfr__)); +typedef struct tagRCONBITS { + unsigned POR :1; + unsigned BOR :1; + unsigned IDLE :1; + unsigned SLEEP :1; + unsigned WDTO :1; + unsigned SWDTEN :1; + unsigned SWR :1; + unsigned EXTR :1; + unsigned :5; + unsigned BGST :1; + unsigned IOPUWR :1; + unsigned TRAPR :1; +} RCONBITS; +extern volatile RCONBITS RCONbits __attribute__((__sfr__)); + +/* OSCCON: Oscillator Control Register */ +extern volatile unsigned int OSCCON __attribute__((__sfr__)); +typedef struct tagOSCCONBITS { + unsigned OSWEN :1; + unsigned LPOSCEN:1; + unsigned :1; + unsigned CF :1; + unsigned :1; + unsigned LOCK :1; + unsigned POST :2; + unsigned NOSC :2; + unsigned TUN0 :1; + unsigned TUN1 :1; + unsigned COSC :2; + unsigned TUN2 :1; + unsigned TUN3 :1; +} OSCCONBITS; +extern volatile OSCCONBITS OSCCONbits __attribute__((__sfr__)); + + +/* ---------------------------------------- */ +/* Non-Volatile Memory register definitions */ +/* ---------------------------------------- */ + +/* NVMCON: Non-Volatile Memory Control Register */ +extern volatile unsigned int NVMCON __attribute__((__sfr__)); +typedef struct tagNVMCONBITS { + unsigned PROGOP :7; + unsigned :1; + unsigned TWRI :1; + unsigned :4; + unsigned WRERR :1; + unsigned WREN :1; + unsigned WR :1; +} NVMCONBITS; +extern volatile NVMCONBITS NVMCONbits __attribute__((__sfr__)); + +/* NVM Address bits <15:0> */ +extern volatile unsigned int NVMADR __attribute__((__sfr__)); + +/* NVM Address bits <23:16> */ +extern volatile unsigned char NVMADRU __attribute__((__sfr__)); + +/* NVM Key */ +extern volatile unsigned char NVMKEY __attribute__((__sfr__)); + + +/* ---------------------------------------------- */ +/* Peripheral Module Disable register definitions */ +/* ---------------------------------------------- */ + +/* PMD1: Peripheral Module Disable Register 1 */ +extern volatile unsigned int PMD1 __attribute__((__sfr__)); +typedef struct tagPMD1BITS { + unsigned ADCMD :1; + unsigned C1MD :1; + unsigned :1; + unsigned SPI1MD :1; + unsigned :1; + unsigned U1MD :1; + unsigned :1; + unsigned I2CMD :1; + unsigned :1; + unsigned PWMMD :1; + unsigned QEIMD :1; + unsigned T1MD :1; + unsigned T2MD :1; + unsigned T3MD :1; + unsigned T4MD :1; + unsigned T5MD :1; +} PMD1BITS; +extern volatile PMD1BITS PMD1bits __attribute__((__sfr__)); + +/* PMD2: Peripheral Module Disable Register 3 */ +extern volatile unsigned int PMD2 __attribute__((__sfr__)); +typedef struct tagPMD2BITS { + unsigned OC1MD :1; + unsigned OC2MD :1; + unsigned :6; + unsigned IC1MD :1; + unsigned IC2MD :1; + unsigned :4; + unsigned IC7MD :1; + unsigned IC8MD :1; +} PMD2BITS; +extern volatile PMD2BITS PMD2bits __attribute__((__sfr__)); + + +/* -------------------------------------------- */ +/* Defines for unique SFR bit names */ +/* -------------------------------------------- */ + +/* SR */ +#define _C SRbits.C +#define _Z SRbits.Z +#define _OV SRbits.OV +#define _N SRbits.N +#define _RA SRbits.RA +#define _IPL SRbits.IPL +#define _DC SRbits.DC +#define _DA SRbits.DA +#define _SAB SRbits.SAB +#define _OAB SRbits.OAB +#define _SB SRbits.SB +#define _SA SRbits.SA +#define _OB SRbits.OB +#define _OA SRbits.OA + +/* CORCON */ +#define _IF CORCONbits.IF +#define _RND CORCONbits.RND +#define _PSV CORCONbits.PSV +#define _IPL3 CORCONbits.IPL3 +#define _ACCSAT CORCONbits.ACCSAT +#define _SATDW CORCONbits.SATDW +#define _SATB CORCONbits.SATB +#define _SATA CORCONbits.SATA +#define _DL CORCONbits.DL +#define _EDT CORCONbits.EDT +#define _US CORCONbits.US + +/* MODCON */ +#define _XWM MODCONbits.XWM +#define _YWM MODCONbits.YWM +#define _BWM MODCONbits.BWM +#define _YMODEN MODCONbits.YMODEN +#define _XMODEN MODCONbits.XMODEN + +/* XBREV */ +#define _XB XBREVbits.XB +#define _BREN XBREVbits.BREN + +/* INTCON1 */ +#define _OSCFAIL INTCON1bits.OSCFAIL +#define _STKERR INTCON1bits.STKERR +#define _ADDRERR INTCON1bits.ADDRERR +#define _MATHERR INTCON1bits.MATHERR +#define _COVTE INTCON1bits.COVTE +#define _OVBTE INTCON1bits.OVBTE +#define _OVATE INTCON1bits.OVATE +#define _NSTDIS INTCON1bits.NSTDIS + +/* INTCON2 */ +#define _INT0EP INTCON2bits.INT0EP +#define _INT1EP INTCON2bits.INT1EP +#define _INT2EP INTCON2bits.INT2EP +#define _DISI INTCON2bits.DISI +#define _ALTIVT INTCON2bits.ALTIVT + +/* IFS0 */ +#define _INT0IF IFS0bits.INT0IF +#define _IC1IF IFS0bits.IC1IF +#define _OC1IF IFS0bits.OC1IF +#define _T1IF IFS0bits.T1IF +#define _IC2IF IFS0bits.IC2IF +#define _OC2IF IFS0bits.OC2IF +#define _T2IF IFS0bits.T2IF +#define _T3IF IFS0bits.T3IF +#define _SPI1IF IFS0bits.SPI1IF +#define _U1RXIF IFS0bits.U1RXIF +#define _U1TXIF IFS0bits.U1TXIF +#define _ADIF IFS0bits.ADIF +#define _NVMIF IFS0bits.NVMIF +#define _SI2CIF IFS0bits.SI2CIF +#define _MI2CIF IFS0bits.MI2CIF +#define _CNIF IFS0bits.CNIF + +/* IFS1 */ +#define _INT1IF IFS1bits.INT1IF +#define _IC7IF IFS1bits.IC7IF +#define _IC8IF IFS1bits.IC8IF +#define _T4IF IFS1bits.T4IF +#define _T5IF IFS1bits.T5IF +#define _INT2IF IFS1bits.INT2IF +#define _C1IF IFS1bits.C1IF + +/* IFS2 */ +#define _PWMIF IFS2bits.PWMIF +#define _QEIIF IFS2bits.QEIIF +#define _FLTAIF IFS2bits.FLTAIF + +/* IEC0 */ +#define _INT0IE IEC0bits.INT0IE +#define _IC1IE IEC0bits.IC1IE +#define _OC1IE IEC0bits.OC1IE +#define _T1IE IEC0bits.T1IE +#define _IC2IE IEC0bits.IC2IE +#define _OC2IE IEC0bits.OC2IE +#define _T2IE IEC0bits.T2IE +#define _T3IE IEC0bits.T3IE +#define _SPI1IE IEC0bits.SPI1IE +#define _U1RXIE IEC0bits.U1RXIE +#define _U1TXIE IEC0bits.U1TXIE +#define _ADIE IEC0bits.ADIE +#define _NVMIE IEC0bits.NVMIE +#define _SI2CIE IEC0bits.SI2CIE +#define _MI2CIE IEC0bits.MI2CIE +#define _CNIE IEC0bits.CNIE + +/* IEC1 */ +#define _INT1IE IEC1bits.INT1IE +#define _IC7IE IEC1bits.IC7IE +#define _IC8IE IEC1bits.IC8IE +#define _T4IE IEC1bits.T4IE +#define _T5IE IEC1bits.T5IE +#define _INT2IE IEC1bits.INT2IE +#define _C1IE IEC1bits.C1IE + +/* IEC2 */ +#define _PWMIE IEC2bits.PWMIE +#define _QEIIE IEC2bits.QEIIE +#define _FLTAIE IEC2bits.FLTAIE + +/* IPC0 */ +#define _INT0IP IPC0bits.INT0IP +#define _IC1IP IPC0bits.IC1IP +#define _OC1IP IPC0bits.OC1IP +#define _T1IP IPC0bits.T1IP + +/* IPC1 */ +#define _IC2IP IPC1bits.IC2IP +#define _OC2IP IPC1bits.OC2IP +#define _T2IP IPC1bits.T2IP +#define _T3IP IPC1bits.T3IP + +/* IPC2 */ +#define _SPI1IP IPC2bits.SPI1IP +#define _U1RXIP IPC2bits.U1RXIP +#define _U1TXIP IPC2bits.U1TXIP +#define _ADIP IPC2bits.ADIP + +/* IPC3 */ +#define _NVMIP IPC3bits.NVMIP +#define _SI2CIP IPC3bits.SI2CIP +#define _MI2CIP IPC3bits.MI2CIP +#define _CNIP IPC3bits.CNIP + +/* IPC4 */ +#define _INT1IP IPC4bits.INT1IP +#define _IC7IP IPC4bits.IC7IP +#define _IC8IP IPC4bits.IC8IP + +/* IPC5 */ +#define _T4IP IPC5bits.T4IP +#define _T5IP IPC5bits.T5IP +#define _INT2IP IPC5bits.INT2IP + +/* IPC6 */ +#define _C1IP IPC6bits.C1IP + +/* IPC9 */ +#define _PWMIP IPC9bits.PWMIP + +/* IPC10 */ +#define _QEIIP IPC10bits.QEIIP +#define _FLTAIP IPC10bits.FLTAIP + +/* CNEN1 */ +#define _CN0IE CNEN1bits.CN0IE +#define _CN1IE CNEN1bits.CN1IE +#define _CN2IE CNEN1bits.CN2IE +#define _CN3IE CNEN1bits.CN3IE +#define _CN4IE CNEN1bits.CN4IE +#define _CN5IE CNEN1bits.CN5IE +#define _CN6IE CNEN1bits.CN6IE +#define _CN7IE CNEN1bits.CN7IE + +/* CNPU1 */ +#define _CN0PUE CNPU1bits.CN0PUE +#define _CN1PUE CNPU1bits.CN1PUE +#define _CN2PUE CNPU1bits.CN2PUE +#define _CN3PUE CNPU1bits.CN3PUE +#define _CN4PUE CNPU1bits.CN4PUE +#define _CN5PUE CNPU1bits.CN5PUE +#define _CN6PUE CNPU1bits.CN6PUE +#define _CN7PUE CNPU1bits.CN7PUE + +/* QEICON */ +#define _UPDN_SRC QEICONbits.UPDN_SRC +#define _TQCS QEICONbits.TQCS +#define _POSRES QEICONbits.POSRES +#define _TQCKPS QEICONbits.TQCKPS +#define _TQGATE QEICONbits.TQGATE +#define _PCDOUT QEICONbits.PCDOUT +#define _SWPAB QEICONbits.SWPAB +#define _QEIM QEICONbits.QEIM +#define _UPDN QEICONbits.UPDN +#define _INDX QEICONbits.INDX +#define _QEISIDL QEICONbits.QEISIDL +#define _CNTERR QEICONbits.CNTERR + +/* DFLTCON */ +#define _QECK DFLTCONbits.QECK +#define _QEOUT DFLTCONbits.QEOUT +#define _CEID DFLTCONbits.CEID +#define _IMV DFLTCONbits.IMV + +/* PTCON */ +#define _PTMOD PTCONbits.PTMOD +#define _PTCKPS PTCONbits.PTCKPS +#define _PTOPS PTCONbits.PTOPS +#define _PTSIDL PTCONbits.PTSIDL +#define _PTEN PTCONbits.PTEN + +/* PTMR */ +#define _PTDIR PTMRbits.PTDIR + +/* SEVTCMP */ +#define _SEVTDIR SEVTCMPbits.SEVTDIR + +/* PWMCON1 */ +#define _PEN1L PWMCON1bits.PEN1L +#define _PEN2L PWMCON1bits.PEN2L +#define _PEN3L PWMCON1bits.PEN3L +#define _PEN1H PWMCON1bits.PEN1H +#define _PEN2H PWMCON1bits.PEN2H +#define _PEN3H PWMCON1bits.PEN3H +#define _PMOD1 PWMCON1bits.PMOD1 +#define _PMOD2 PWMCON1bits.PMOD2 +#define _PMOD3 PWMCON1bits.PMOD3 + +/* PWMCON2 */ +#define _UDIS PWMCON2bits.UDIS +#define _OSYNC PWMCON2bits.OSYNC +#define _SEVOPS PWMCON2bits.SEVOPS + +/* DTCON1 */ +#define _DTA DTCON1bits.DTA +#define _DTAPS DTCON1bits.DTAPS + +/* FLTACON */ +#define _FAEN1 FLTACONbits.FAEN1 +#define _FAEN2 FLTACONbits.FAEN2 +#define _FAEN3 FLTACONbits.FAEN3 +#define _FLTAM FLTACONbits.FLTAM +#define _FAOV1L FLTACONbits.FAOV1L +#define _FAOV1H FLTACONbits.FAOV1H +#define _FAOV2L FLTACONbits.FAOV2L +#define _FAOV2H FLTACONbits.FAOV2H +#define _FAOV3L FLTACONbits.FAOV3L +#define _FAOV3H FLTACONbits.FAOV3H + +/* FLTBCON */ +#define _FBEN1 FLTBCONbits.FBEN1 +#define _FBEN2 FLTBCONbits.FBEN2 +#define _FBEN3 FLTBCONbits.FBEN3 +#define _FLTBM FLTBCONbits.FLTBM +#define _FBOV1L FLTBCONbits.FBOV1L +#define _FBOV1H FLTBCONbits.FBOV1H +#define _FBOV2L FLTBCONbits.FBOV2L +#define _FBOV2H FLTBCONbits.FBOV2H +#define _FBOV3L FLTBCONbits.FBOV3L +#define _FBOV3H FLTBCONbits.FBOV3H + +/* OVDCON */ +#define _POUT1L OVDCONbits.POUT1L +#define _POUT1H OVDCONbits.POUT1H +#define _POUT2L OVDCONbits.POUT2L +#define _POUT2H OVDCONbits.POUT2H +#define _POUT3L OVDCONbits.POUT3L +#define _POUT3H OVDCONbits.POUT3H +#define _POVD1L OVDCONbits.POVD1L +#define _POVD1H OVDCONbits.POVD1H +#define _POVD2L OVDCONbits.POVD2L +#define _POVD2H OVDCONbits.POVD2H +#define _POVD3L OVDCONbits.POVD3L +#define _POVD3H OVDCONbits.POVD3H + +/* I2CCON */ +#define _SEN I2CCONbits.SEN +#define _RSEN I2CCONbits.RSEN +#define _PEN I2CCONbits.PEN +#define _RCEN I2CCONbits.RCEN +#define _ACKEN I2CCONbits.ACKEN +#define _ACKDT I2CCONbits.ACKDT +#define _STREN I2CCONbits.STREN +#define _GCEN I2CCONbits.GCEN +#define _SMEN I2CCONbits.SMEN +#define _DISSLW I2CCONbits.DISSLW +#define _A10M I2CCONbits.A10M +#define _IPMIEN I2CCONbits.IPMIEN +#define _SCLREL I2CCONbits.SCLREL +#define _I2CSIDL I2CCONbits.I2CSIDL +#define _I2CEN I2CCONbits.I2CEN + +/* I2CSTAT */ +#define _TBF I2CSTATbits.TBF +#define _RBF I2CSTATbits.RBF +#define _R_W I2CSTATbits.R_W +#define _S I2CSTATbits.S +#define _P I2CSTATbits.P +#define _D_A I2CSTATbits.D_A +#define _I2COV I2CSTATbits.I2COV +#define _IWCOL I2CSTATbits.IWCOL +#define _ADD10 I2CSTATbits.ADD10 +#define _GCSTAT I2CSTATbits.GCSTAT +#define _BCL I2CSTATbits.BCL +#define _TRSTAT I2CSTATbits.TRSTAT +#define _ACKSTAT I2CSTATbits.ACKSTAT + +/* ADCON1 */ +#define _DONE ADCON1bits.DONE +#define _SAMP ADCON1bits.SAMP +#define _ASAM ADCON1bits.ASAM +#define _SIMSAM ADCON1bits.SIMSAM +#define _SSRC ADCON1bits.SSRC +#define _FORM ADCON1bits.FORM +#define _ADSIDL ADCON1bits.ADSIDL +#define _ADON ADCON1bits.ADON + +/* ADCON2 */ +#define _ALTS ADCON2bits.ALTS +#define _BUFM ADCON2bits.BUFM +#define _SMPI ADCON2bits.SMPI +#define _BUFS ADCON2bits.BUFS +#define _CSCNA ADCON2bits.CSCNA +#define _VCFG ADCON2bits.VCFG + +/* ADCON3 */ +#define _ADCS ADCON3bits.ADCS +#define _ADRC ADCON3bits.ADRC +#define _SAMC ADCON3bits.SAMC + +/* ADCHS */ +#define _CH0SA ADCHSbits.CH0SA +#define _CH0NA ADCHSbits.CH0NA +#define _CH123SA ADCHSbits.CH123SA +#define _CH123NA ADCHSbits.CH123NA +#define _CH0SB ADCHSbits.CH0SB +#define _CH0NB ADCHSbits.CH0NB +#define _CH123SB ADCHSbits.CH123SB +#define _CH123NB ADCHSbits.CH123NB + +/* ADPCFG */ +#define _PCFG0 ADPCFGbits.PCFG0 +#define _PCFG1 ADPCFGbits.PCFG1 +#define _PCFG2 ADPCFGbits.PCFG2 +#define _PCFG3 ADPCFGbits.PCFG3 +#define _PCFG4 ADPCFGbits.PCFG4 +#define _PCFG5 ADPCFGbits.PCFG5 + +/* ADCSSL */ +#define _CSSL0 ADCSSLbits.CSSL0 +#define _CSSL1 ADCSSLbits.CSSL1 +#define _CSSL2 ADCSSLbits.CSSL2 +#define _CSSL3 ADCSSLbits.CSSL3 +#define _CSSL4 ADCSSLbits.CSSL4 +#define _CSSL5 ADCSSLbits.CSSL5 + +/* TRISB */ +#define _TRISB0 TRISBbits.TRISB0 +#define _TRISB1 TRISBbits.TRISB1 +#define _TRISB2 TRISBbits.TRISB2 +#define _TRISB3 TRISBbits.TRISB3 +#define _TRISB4 TRISBbits.TRISB4 +#define _TRISB5 TRISBbits.TRISB5 + +/* PORTB */ +#define _RB0 PORTBbits.RB0 +#define _RB1 PORTBbits.RB1 +#define _RB2 PORTBbits.RB2 +#define _RB3 PORTBbits.RB3 +#define _RB4 PORTBbits.RB4 +#define _RB5 PORTBbits.RB5 + +/* LATB */ +#define _LATB0 LATBbits.LATB0 +#define _LATB1 LATBbits.LATB1 +#define _LATB2 LATBbits.LATB2 +#define _LATB3 LATBbits.LATB3 +#define _LATB4 LATBbits.LATB4 +#define _LATB5 LATBbits.LATB5 + +/* TRISC */ +#define _TRISC13 TRISCbits.TRISC13 +#define _TRISC14 TRISCbits.TRISC14 +#define _TRISC15 TRISCbits.TRISC15 + +/* PORTC */ +#define _RC13 PORTCbits.RC13 +#define _RC14 PORTCbits.RC14 +#define _RC15 PORTCbits.RC15 + +/* LATC */ +#define _LATC13 LATCbits.LATC13 +#define _LATC14 LATCbits.LATC14 +#define _LATC15 LATCbits.LATC15 + +/* TRISD */ +#define _TRISD0 TRISDbits.TRISD0 +#define _TRISD1 TRISDbits.TRISD1 + +/* PORTD */ +#define _RD0 PORTDbits.RD0 +#define _RD1 PORTDbits.RD1 + +/* LATD */ +#define _LATD0 LATDbits.LATD0 +#define _LATD1 LATDbits.LATD1 + +/* TRISE */ +#define _TRISE0 TRISEbits.TRISE0 +#define _TRISE1 TRISEbits.TRISE1 +#define _TRISE2 TRISEbits.TRISE2 +#define _TRISE3 TRISEbits.TRISE3 +#define _TRISE4 TRISEbits.TRISE4 +#define _TRISE5 TRISEbits.TRISE5 +#define _TRISE8 TRISEbits.TRISE8 + +/* PORTE */ +#define _RE0 PORTEbits.RE0 +#define _RE1 PORTEbits.RE1 +#define _RE2 PORTEbits.RE2 +#define _RE3 PORTEbits.RE3 +#define _RE4 PORTEbits.RE4 +#define _RE5 PORTEbits.RE5 +#define _RE8 PORTEbits.RE8 + +/* LATE */ +#define _LATE0 LATEbits.LATE0 +#define _LATE1 LATEbits.LATE1 +#define _LATE2 LATEbits.LATE2 +#define _LATE3 LATEbits.LATE3 +#define _LATE4 LATEbits.LATE4 +#define _LATE5 LATEbits.LATE5 +#define _LATE8 LATEbits.LATE8 + +/* TRISF */ +#define _TRISF2 TRISFbits.TRISF2 +#define _TRISF3 TRISFbits.TRISF3 + +/* PORTF */ +#define _RF2 PORTFbits.RF2 +#define _RF3 PORTFbits.RF3 + +/* LATF */ +#define _LATF2 LATFbits.LATF2 +#define _LATF3 LATFbits.LATF3 + +/* RCON */ +#define _POR RCONbits.POR +#define _BOR RCONbits.BOR +#define _IDLE RCONbits.IDLE +#define _SLEEP RCONbits.SLEEP +#define _WDTO RCONbits.WDTO +#define _SWDTEN RCONbits.SWDTEN +#define _SWR RCONbits.SWR +#define _EXTR RCONbits.EXTR +#define _BGST RCONbits.BGST +#define _IOPUWR RCONbits.IOPUWR +#define _TRAPR RCONbits.TRAPR + +/* OSCCON */ +#define _OSWEN OSCCONbits.OSWEN +#define _LPOSCEN OSCCONbits.LPOSCEN +#define _CF OSCCONbits.CF +#define _LOCK OSCCONbits.LOCK +#define _POST OSCCONbits.POST +#define _NOSC OSCCONbits.NOSC +#define _TUN0 OSCCONbits.TUN0 +#define _TUN1 OSCCONbits.TUN1 +#define _COSC OSCCONbits.COSC +#define _TUN2 OSCCONbits.TUN2 +#define _TUN3 OSCCONbits.TUN3 + +/* NVMCON */ +#define _PROGOP NVMCONbits.PROGOP +#define _TWRI NVMCONbits.TWRI +#define _WRERR NVMCONbits.WRERR +#define _WREN NVMCONbits.WREN +#define _WR NVMCONbits.WR + +/* PMD1 */ +#define _ADCMD PMD1bits.ADCMD +#define _C1MD PMD1bits.C1MD +#define _SPI1MD PMD1bits.SPI1MD +#define _U1MD PMD1bits.U1MD +#define _I2CMD PMD1bits.I2CMD +#define _PWMMD PMD1bits.PWMMD +#define _QEIMD PMD1bits.QEIMD +#define _T1MD PMD1bits.T1MD +#define _T2MD PMD1bits.T2MD +#define _T3MD PMD1bits.T3MD +#define _T4MD PMD1bits.T4MD +#define _T5MD PMD1bits.T5MD + +/* PMD2 */ +#define _OC1MD PMD2bits.OC1MD +#define _OC2MD PMD2bits.OC2MD +#define _IC1MD PMD2bits.IC1MD +#define _IC2MD PMD2bits.IC2MD +#define _IC7MD PMD2bits.IC7MD +#define _IC8MD PMD2bits.IC8MD + + +/* -------------------------------------------- */ +/* Macros for Device Configuration Registers */ +/* -------------------------------------------- */ + +/* FOSC */ +#define _FOSC(x) __attribute__((section("__FOSC.sec,code"))) int _FOSC = (x); + +#define CSW_FSCM_OFF 0xFFFF +#define CSW_ON_FSCM_OFF 0x7FFF +#define CSW_FSCM_ON 0x3FFF +#define EC 0xFFFB +#define ECIO 0xFFFC +#define EC_PLL4 0xFFFD +#define EC_PLL8 0xFFFE +#define EC_PLL16 0xFFFF +#define ERC 0xFFF9 +#define ERCIO 0xFFF8 +#define XT 0xFFF4 +#define XT_PLL4 0xFFF5 +#define XT_PLL8 0xFFF6 +#define XT_PLL16 0xFFF7 +#define XTL 0xFFF0 +#define FRC_PLL4 0xFFF1 +#define FRC_PLL8 0xFFFA +#define FRC_PLL16 0xFFF3 +#define HS 0xFFF2 +#define LP 0xFCFF +#define FRC 0xFDFF +#define LPRC 0xFEFF + +/* FWDT */ +#define _FWDT(x) __attribute__((section("__FWDT.sec,code"))) int _FWDT = (x); + +#define WDT_ON 0xFFFF +#define WDT_OFF 0x7FFF +#define WDTPSA_1 0xFFCF +#define WDTPSA_8 0xFFDF +#define WDTPSA_64 0xFFEF +#define WDTPSA_512 0xFFFF +#define WDTPSB_1 0xFFF0 +#define WDTPSB_2 0xFFF1 +#define WDTPSB_3 0xFFF2 +#define WDTPSB_4 0xFFF3 +#define WDTPSB_5 0xFFF4 +#define WDTPSB_6 0xFFF5 +#define WDTPSB_7 0xFFF6 +#define WDTPSB_8 0xFFF7 +#define WDTPSB_9 0xFFF8 +#define WDTPSB_10 0xFFF9 +#define WDTPSB_11 0xFFFA +#define WDTPSB_12 0xFFFB +#define WDTPSB_13 0xFFFC +#define WDTPSB_14 0xFFFD +#define WDTPSB_15 0xFFFE +#define WDTPSB_16 0xFFFF + +/* FBORPOR */ +#define _FBORPOR(x) __attribute__((section("__FBORPOR.sec,code"))) int _FBORPOR = (x); + +#define MCLR_EN 0xFFFF +#define MCLR_DIS 0x7FFF +#define RST_IOPIN 0xFFFF +#define RST_PWMPIN 0xFBFF +#define PWMxH_ACT_HI 0xFFFF +#define PWMxH_ACT_LO 0xFDFF +#define PWMxL_ACT_HI 0xFFFF +#define PWMxL_ACT_LO 0xFEFF +#define PBOR_ON 0xFFFF +#define PBOR_OFF 0xFF7F +#define BORV_20 0xFFFF +#define BORV_27 0xFFEF +#define BORV_42 0xFFDF +#define BORV_45 0xFFCF +#define PWRT_OFF 0xFFFC +#define PWRT_4 0xFFFD +#define PWRT_16 0xFFFE +#define PWRT_64 0xFFFF + +/* FGS */ +#define _FGS(x) __attribute__((section("__FGS.sec,code"))) int _FGS = (x); + +#define CODE_PROT_OFF 0xFFFF +#define CODE_PROT_ON 0xFFFD + + +/* --------------------------------------------------------------------------- + Setting configuration fuses using macros: + ========================================== + Macros are provided which can be used to set configuration fuses: + For e.g., to set the FOSC fuse using a macro above, the following line of + code can be pasted before the beginning of the C source code. + + _FOSC(CSW_FSCM_ON & EC_PLL16); + + This would enable the external clock with the PLL set to 16x and further, + enable clock switching and failsafe clock monitoring. + + Similarly, to set the FBORPOR fuse, paste the following : + + _FBORPOR(PBOR_ON & BORV_27 & PWRT_ON_64 & MCLR_DIS); + + This would enable Brown-out Reset at 2.7 Volts and initialize the Power-up + timer to 64 milliseconds and configure the use of the MCLR pin for I/O. + Given below, is a complete list of settings valid to each of the fuses: + (Paste the ones relevant to your application before the beginning of C + source code.) + + FOSC: + ====== + _FOSC(CSW_FSCM_OFF & EC); + _FOSC(CSW_FSCM_OFF & ECIO); + _FOSC(CSW_FSCM_OFF & EC_PLL4); + _FOSC(CSW_FSCM_OFF & EC_PLL8); + _FOSC(CSW_FSCM_OFF & EC_PLL16); + _FOSC(CSW_FSCM_OFF & ERC); + _FOSC(CSW_FSCM_OFF & ERCIO); + _FOSC(CSW_FSCM_OFF & XT); + _FOSC(CSW_FSCM_OFF & XT_PLL4); + _FOSC(CSW_FSCM_OFF & XT_PLL8); + _FOSC(CSW_FSCM_OFF & XT_PLL16); + _FOSC(CSW_FSCM_OFF & XTL); + _FOSC(CSW_FSCM_OFF & FRC_PLL4); + _FOSC(CSW_FSCM_OFF & FRC_PLL8); + _FOSC(CSW_FSCM_OFF & FRC_PLL16); + _FOSC(CSW_FSCM_OFF & HS); + _FOSC(CSW_FSCM_OFF & LP & EC); + _FOSC(CSW_FSCM_OFF & LP & ECIO); + _FOSC(CSW_FSCM_OFF & LP & EC_PLL4); + _FOSC(CSW_FSCM_OFF & LP & EC_PLL8); + _FOSC(CSW_FSCM_OFF & LP & EC_PLL16); + _FOSC(CSW_FSCM_OFF & LP & ERC); + _FOSC(CSW_FSCM_OFF & LP & ERCIO); + _FOSC(CSW_FSCM_OFF & LP & XT); + _FOSC(CSW_FSCM_OFF & LP & XT_PLL4); + _FOSC(CSW_FSCM_OFF & LP & XT_PLL8); + _FOSC(CSW_FSCM_OFF & LP & XT_PLL16); + _FOSC(CSW_FSCM_OFF & LP & XTL); + _FOSC(CSW_FSCM_OFF & LP & FRC_PLL4); + _FOSC(CSW_FSCM_OFF & LP & FRC_PLL8); + _FOSC(CSW_FSCM_OFF & LP & FRC_PLL16); + _FOSC(CSW_FSCM_OFF & LP & HS); + _FOSC(CSW_FSCM_OFF & FRC & EC); + _FOSC(CSW_FSCM_OFF & FRC & ECIO); + _FOSC(CSW_FSCM_OFF & FRC & EC_PLL4); + _FOSC(CSW_FSCM_OFF & FRC & EC_PLL8); + _FOSC(CSW_FSCM_OFF & FRC & EC_PLL16); + _FOSC(CSW_FSCM_OFF & FRC & ERC); + _FOSC(CSW_FSCM_OFF & FRC & ERCIO); + _FOSC(CSW_FSCM_OFF & FRC & XT); + _FOSC(CSW_FSCM_OFF & FRC & XT_PLL4); + _FOSC(CSW_FSCM_OFF & FRC & XT_PLL8); + _FOSC(CSW_FSCM_OFF & FRC & XT_PLL16); + _FOSC(CSW_FSCM_OFF & FRC & XTL); + _FOSC(CSW_FSCM_OFF & FRC & FRC_PLL4); + _FOSC(CSW_FSCM_OFF & FRC & FRC_PLL8); + _FOSC(CSW_FSCM_OFF & FRC & FRC_PLL16); + _FOSC(CSW_FSCM_OFF & FRC & HS); + _FOSC(CSW_FSCM_OFF & LPRC & EC); + _FOSC(CSW_FSCM_OFF & LPRC & ECIO); + _FOSC(CSW_FSCM_OFF & LPRC & EC_PLL4); + _FOSC(CSW_FSCM_OFF & LPRC & EC_PLL8); + _FOSC(CSW_FSCM_OFF & LPRC & EC_PLL16); + _FOSC(CSW_FSCM_OFF & LPRC & ERC); + _FOSC(CSW_FSCM_OFF & LPRC & ERCIO); + _FOSC(CSW_FSCM_OFF & LPRC & XT); + _FOSC(CSW_FSCM_OFF & LPRC & XT_PLL4); + _FOSC(CSW_FSCM_OFF & LPRC & XT_PLL8); + _FOSC(CSW_FSCM_OFF & LPRC & XT_PLL16); + _FOSC(CSW_FSCM_OFF & LPRC & XTL); + _FOSC(CSW_FSCM_OFF & LPRC & FRC_PLL4); + _FOSC(CSW_FSCM_OFF & LPRC & FRC_PLL8); + _FOSC(CSW_FSCM_OFF & LPRC & FRC_PLL16); + _FOSC(CSW_FSCM_OFF & LPRC & HS); + _FOSC(CSW_ON_FSCM_OFF & EC); + _FOSC(CSW_ON_FSCM_OFF & ECIO); + _FOSC(CSW_ON_FSCM_OFF & EC_PLL4); + _FOSC(CSW_ON_FSCM_OFF & EC_PLL8); + _FOSC(CSW_ON_FSCM_OFF & EC_PLL16); + _FOSC(CSW_ON_FSCM_OFF & ERC); + _FOSC(CSW_ON_FSCM_OFF & ERCIO); + _FOSC(CSW_ON_FSCM_OFF & XT); + _FOSC(CSW_ON_FSCM_OFF & XT_PLL4); + _FOSC(CSW_ON_FSCM_OFF & XT_PLL8); + _FOSC(CSW_ON_FSCM_OFF & XT_PLL16); + _FOSC(CSW_ON_FSCM_OFF & XTL); + _FOSC(CSW_ON_FSCM_OFF & FRC_PLL4); + _FOSC(CSW_ON_FSCM_OFF & FRC_PLL8); + _FOSC(CSW_ON_FSCM_OFF & FRC_PLL16); + _FOSC(CSW_ON_FSCM_OFF & HS); + _FOSC(CSW_ON_FSCM_OFF & LP & EC); + _FOSC(CSW_ON_FSCM_OFF & LP & ECIO); + _FOSC(CSW_ON_FSCM_OFF & LP & EC_PLL4); + _FOSC(CSW_ON_FSCM_OFF & LP & EC_PLL8); + _FOSC(CSW_ON_FSCM_OFF & LP & EC_PLL16); + _FOSC(CSW_ON_FSCM_OFF & LP & ERC); + _FOSC(CSW_ON_FSCM_OFF & LP & ERCIO); + _FOSC(CSW_ON_FSCM_OFF & LP & XT); + _FOSC(CSW_ON_FSCM_OFF & LP & XT_PLL4); + _FOSC(CSW_ON_FSCM_OFF & LP & XT_PLL8); + _FOSC(CSW_ON_FSCM_OFF & LP & XT_PLL16); + _FOSC(CSW_ON_FSCM_OFF & LP & XTL); + _FOSC(CSW_ON_FSCM_OFF & LP & FRC_PLL4); + _FOSC(CSW_ON_FSCM_OFF & LP & FRC_PLL8); + _FOSC(CSW_ON_FSCM_OFF & LP & FRC_PLL16); + _FOSC(CSW_ON_FSCM_OFF & LP & HS); + _FOSC(CSW_ON_FSCM_OFF & FRC & EC); + _FOSC(CSW_ON_FSCM_OFF & FRC & ECIO); + _FOSC(CSW_ON_FSCM_OFF & FRC & EC_PLL4); + _FOSC(CSW_ON_FSCM_OFF & FRC & EC_PLL8); + _FOSC(CSW_ON_FSCM_OFF & FRC & EC_PLL16); + _FOSC(CSW_ON_FSCM_OFF & FRC & ERC); + _FOSC(CSW_ON_FSCM_OFF & FRC & ERCIO); + _FOSC(CSW_ON_FSCM_OFF & FRC & XT); + _FOSC(CSW_ON_FSCM_OFF & FRC & XT_PLL4); + _FOSC(CSW_ON_FSCM_OFF & FRC & XT_PLL8); + _FOSC(CSW_ON_FSCM_OFF & FRC & XT_PLL16); + _FOSC(CSW_ON_FSCM_OFF & FRC & XTL); + _FOSC(CSW_ON_FSCM_OFF & FRC & FRC_PLL4); + _FOSC(CSW_ON_FSCM_OFF & FRC & FRC_PLL8); + _FOSC(CSW_ON_FSCM_OFF & FRC & FRC_PLL16); + _FOSC(CSW_ON_FSCM_OFF & FRC & HS); + _FOSC(CSW_ON_FSCM_OFF & LPRC & EC); + _FOSC(CSW_ON_FSCM_OFF & LPRC & ECIO); + _FOSC(CSW_ON_FSCM_OFF & LPRC & EC_PLL4); + _FOSC(CSW_ON_FSCM_OFF & LPRC & EC_PLL8); + _FOSC(CSW_ON_FSCM_OFF & LPRC & EC_PLL16); + _FOSC(CSW_ON_FSCM_OFF & LPRC & ERC); + _FOSC(CSW_ON_FSCM_OFF & LPRC & ERCIO); + _FOSC(CSW_ON_FSCM_OFF & LPRC & XT); + _FOSC(CSW_ON_FSCM_OFF & LPRC & XT_PLL4); + _FOSC(CSW_ON_FSCM_OFF & LPRC & XT_PLL8); + _FOSC(CSW_ON_FSCM_OFF & LPRC & XT_PLL16); + _FOSC(CSW_ON_FSCM_OFF & LPRC & XTL); + _FOSC(CSW_ON_FSCM_OFF & LPRC & FRC_PLL4); + _FOSC(CSW_ON_FSCM_OFF & LPRC & FRC_PLL8); + _FOSC(CSW_ON_FSCM_OFF & LPRC & FRC_PLL16); + _FOSC(CSW_ON_FSCM_OFF & LPRC & HS); + _FOSC(CSW_FSCM_ON & EC); + _FOSC(CSW_FSCM_ON & ECIO); + _FOSC(CSW_FSCM_ON & EC_PLL4); + _FOSC(CSW_FSCM_ON & EC_PLL8); + _FOSC(CSW_FSCM_ON & EC_PLL16); + _FOSC(CSW_FSCM_ON & ERC); + _FOSC(CSW_FSCM_ON & ERCIO); + _FOSC(CSW_FSCM_ON & XT); + _FOSC(CSW_FSCM_ON & XT_PLL4); + _FOSC(CSW_FSCM_ON & XT_PLL8); + _FOSC(CSW_FSCM_ON & XT_PLL16); + _FOSC(CSW_FSCM_ON & XTL); + _FOSC(CSW_FSCM_ON & FRC_PLL4); + _FOSC(CSW_FSCM_ON & FRC_PLL8); + _FOSC(CSW_FSCM_ON & FRC_PLL16); + _FOSC(CSW_FSCM_ON & HS); + _FOSC(CSW_FSCM_ON & LP & EC); + _FOSC(CSW_FSCM_ON & LP & ECIO); + _FOSC(CSW_FSCM_ON & LP & EC_PLL4); + _FOSC(CSW_FSCM_ON & LP & EC_PLL8); + _FOSC(CSW_FSCM_ON & LP & EC_PLL16); + _FOSC(CSW_FSCM_ON & LP & ERC); + _FOSC(CSW_FSCM_ON & LP & ERCIO); + _FOSC(CSW_FSCM_ON & LP & XT); + _FOSC(CSW_FSCM_ON & LP & XT_PLL4); + _FOSC(CSW_FSCM_ON & LP & XT_PLL8); + _FOSC(CSW_FSCM_ON & LP & XT_PLL16); + _FOSC(CSW_FSCM_ON & LP & XTL); + _FOSC(CSW_FSCM_ON & LP & FRC_PLL4); + _FOSC(CSW_FSCM_ON & LP & FRC_PLL8); + _FOSC(CSW_FSCM_ON & LP & FRC_PLL16); + _FOSC(CSW_FSCM_ON & LP & HS); + _FOSC(CSW_FSCM_ON & FRC & EC); + _FOSC(CSW_FSCM_ON & FRC & ECIO); + _FOSC(CSW_FSCM_ON & FRC & EC_PLL4); + _FOSC(CSW_FSCM_ON & FRC & EC_PLL8); + _FOSC(CSW_FSCM_ON & FRC & EC_PLL16); + _FOSC(CSW_FSCM_ON & FRC & ERC); + _FOSC(CSW_FSCM_ON & FRC & ERCIO); + _FOSC(CSW_FSCM_ON & FRC & XT); + _FOSC(CSW_FSCM_ON & FRC & XT_PLL4); + _FOSC(CSW_FSCM_ON & FRC & XT_PLL8); + _FOSC(CSW_FSCM_ON & FRC & XT_PLL16); + _FOSC(CSW_FSCM_ON & FRC & XTL); + _FOSC(CSW_FSCM_ON & FRC & FRC_PLL4); + _FOSC(CSW_FSCM_ON & FRC & FRC_PLL8); + _FOSC(CSW_FSCM_ON & FRC & FRC_PLL16); + _FOSC(CSW_FSCM_ON & FRC & HS); + _FOSC(CSW_FSCM_ON & LPRC & EC); + _FOSC(CSW_FSCM_ON & LPRC & ECIO); + _FOSC(CSW_FSCM_ON & LPRC & EC_PLL4); + _FOSC(CSW_FSCM_ON & LPRC & EC_PLL8); + _FOSC(CSW_FSCM_ON & LPRC & EC_PLL16); + _FOSC(CSW_FSCM_ON & LPRC & ERC); + _FOSC(CSW_FSCM_ON & LPRC & ERCIO); + _FOSC(CSW_FSCM_ON & LPRC & XT); + _FOSC(CSW_FSCM_ON & LPRC & XT_PLL4); + _FOSC(CSW_FSCM_ON & LPRC & XT_PLL8); + _FOSC(CSW_FSCM_ON & LPRC & XT_PLL16); + _FOSC(CSW_FSCM_ON & LPRC & XTL); + _FOSC(CSW_FSCM_ON & LPRC & FRC_PLL4); + _FOSC(CSW_FSCM_ON & LPRC & FRC_PLL8); + _FOSC(CSW_FSCM_ON & LPRC & FRC_PLL16); + _FOSC(CSW_FSCM_ON & LPRC & HS); + FWDT + ===== + _FWDT(WDT_OFF); + _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_1); + _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_2); + _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_3); + _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_4); + _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_5); + _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_6); + _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_7); + _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_8); + _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_9); + _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_10); + _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_11); + _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_12); + _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_13); + _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_14); + _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_15); + _FWDT(WDT_ON & WDTPSA_1 & WDTPSB_16); + _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_1); + _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_2); + _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_3); + _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_4); + _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_5); + _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_6); + _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_7); + _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_8); + _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_9); + _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_10); + _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_11); + _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_12); + _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_13); + _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_14); + _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_15); + _FWDT(WDT_ON & WDTPSA_8 & WDTPSB_16); + _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_1); + _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_2); + _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_3); + _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_4); + _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_5); + _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_6); + _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_7); + _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_8); + _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_9); + _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_10); + _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_11); + _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_12); + _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_13); + _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_14); + _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_15); + _FWDT(WDT_ON & WDTPSA_64 & WDTPSB_16); + _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_1); + _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_2); + _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_3); + _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_4); + _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_5); + _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_6); + _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_7); + _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_8); + _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_9); + _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_10); + _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_11); + _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_12); + _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_13); + _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_14); + _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_15); + _FWDT(WDT_ON & WDTPSA_512 & WDTPSB_16); + + FBORPOR + ======== + _FBORPOR(PBOR_OFF & MCLR_DIS); + _FBORPOR(PBOR_OFF & MCLR_EN); + _FBORPOR(PBOR_ON & BORV_20 & PWRT_OFF & MCLR_DIS); + _FBORPOR(PBOR_ON & BORV_27 & PWRT_OFF & MCLR_DIS); + _FBORPOR(PBOR_ON & BORV_42 & PWRT_OFF & MCLR_DIS); + _FBORPOR(PBOR_ON & BORV_45 & PWRT_OFF & MCLR_DIS); + _FBORPOR(PBOR_ON & BORV_20 & PWRT_OFF & MCLR_EN); + _FBORPOR(PBOR_ON & BORV_27 & PWRT_OFF & MCLR_EN); + _FBORPOR(PBOR_ON & BORV_42 & PWRT_OFF & MCLR_EN); + _FBORPOR(PBOR_ON & BORV_45 & PWRT_OFF & MCLR_EN); + _FBORPOR(PBOR_ON & BORV_20 & PWRT_4 & MCLR_DIS); + _FBORPOR(PBOR_ON & BORV_27 & PWRT_4 & MCLR_DIS); + _FBORPOR(PBOR_ON & BORV_42 & PWRT_4 & MCLR_DIS); + _FBORPOR(PBOR_ON & BORV_45 & PWRT_4 & MCLR_DIS); + _FBORPOR(PBOR_ON & BORV_20 & PWRT_4 & MCLR_EN); + _FBORPOR(PBOR_ON & BORV_27 & PWRT_4 & MCLR_EN); + _FBORPOR(PBOR_ON & BORV_42 & PWRT_4 & MCLR_EN); + _FBORPOR(PBOR_ON & BORV_45 & PWRT_4 & MCLR_EN); + _FBORPOR(PBOR_ON & BORV_20 & PWRT_16 & MCLR_DIS); + _FBORPOR(PBOR_ON & BORV_27 & PWRT_16 & MCLR_DIS); + _FBORPOR(PBOR_ON & BORV_42 & PWRT_16 & MCLR_DIS); + _FBORPOR(PBOR_ON & BORV_45 & PWRT_16 & MCLR_DIS); + _FBORPOR(PBOR_ON & BORV_20 & PWRT_16 & MCLR_EN); + _FBORPOR(PBOR_ON & BORV_27 & PWRT_16 & MCLR_EN); + _FBORPOR(PBOR_ON & BORV_42 & PWRT_16 & MCLR_EN); + _FBORPOR(PBOR_ON & BORV_45 & PWRT_16 & MCLR_EN); + _FBORPOR(PBOR_ON & BORV_20 & PWRT_64 & MCLR_DIS); + _FBORPOR(PBOR_ON & BORV_27 & PWRT_64 & MCLR_DIS); + _FBORPOR(PBOR_ON & BORV_42 & PWRT_64 & MCLR_DIS); + _FBORPOR(PBOR_ON & BORV_45 & PWRT_64 & MCLR_DIS); + _FBORPOR(PBOR_ON & BORV_20 & PWRT_64 & MCLR_EN); + _FBORPOR(PBOR_ON & BORV_27 & PWRT_64 & MCLR_EN); + _FBORPOR(PBOR_ON & BORV_42 & PWRT_64 & MCLR_EN); + _FBORPOR(PBOR_ON & BORV_45 & PWRT_64 & MCLR_EN); + + FGS + ==== + _FGS(CODE_PROT_OFF); + _FGS(CODE_PROT_ON); + + ---------------------------------------------------------------------------- */ + + +/* -------------------------------------------- */ +/* Some useful macros for inline assembly stuff */ +/* -------------------------------------------- */ + +#define Nop() {__asm__ volatile ("nop");} +#define ClrWdt() {__asm__ volatile ("clrwdt");} +#define Sleep() {__asm__ volatile ("pwrsav #0");} +#define Idle() {__asm__ volatile ("pwrsav #1");} + +/* ---------------------------------------------------------- */ +/* Some useful macros for allocating data memory */ +/* ---------------------------------------------------------- */ + +/* The following macros require an argument N that specifies */ +/* alignment. N must a power of two, minimum value = 2. */ +/* For example, to declare an uninitialized array in X memory */ +/* that is aligned to a 32 byte address: */ +/* */ +/* int _XBSS(32) xbuf[16]; */ +/* */ +/* To declare an initialized array in data EEPROM without */ +/* special alignment: */ +/* */ +/* int _EEDATA(2) table1[] = {0, 1, 1, 2, 3, 5, 8, 13, 21}; */ +/* */ +#define _XBSS(N) __attribute__((space(xmemory),aligned(N))) +#define _XDATA(N) __attribute__((space(xmemory),aligned(N))) +#define _YBSS(N) __attribute__((space(ymemory),aligned(N))) +#define _YDATA(N) __attribute__((space(ymemory),aligned(N))) +#define _EEDATA(N) __attribute__((space(eedata),aligned(N))) + +/* The following macros do not require an argument. They can */ +/* be used to locate a variable in persistent data memory or */ +/* in near data memory. For example, to declare two variables */ +/* that retain their values across a device reset: */ +/* */ +/* int _PERSISTENT var1,var2; */ +/* */ +#define _PERSISTENT __attribute__((persistent)) +#define _NEAR __attribute__((near)) + +/* ---------------------------------------------------------- */ +/* Some useful macros for declaring functions */ +/* ---------------------------------------------------------- */ + +/* The following macros can be used to declare interrupt */ +/* service routines (ISRs). For example, to declare an ISR */ +/* for the timer1 interrupt: */ +/* */ +/* void _ISR _T1Interrupt(void); */ +/* */ +/* To declare an ISR for the SPI1 interrupt with fast */ +/* context save: */ +/* */ +/* void _ISRFAST _SPI1Interrupt(void); */ +/* */ +/* Note: ISRs will be installed into the interrupt vector */ +/* tables automatically if the reserved names listed in the */ +/* MPLAB C30 Compiler User's Guide (DS51284) are used. */ +/* */ +#define _ISR __attribute__((interrupt)) +#define _ISRFAST __attribute__((interrupt, shadow)) + +/* ---------------------------------------------------------- */ +/* Some useful macros for changing the CPU IPL */ +/* ---------------------------------------------------------- */ + +/* The following macros can be used to modify the current CPU */ +/* IPL. The definition of the macro may vary from device to */ +/* device. */ +/* */ +/* To safely set the CPU IPL, use SET_CPU_IPL(ipl); the */ +/* valid range of ipl is 0-7, it may be any expression. */ +/* */ +/* SET_CPU_IPL(7); */ +/* */ +/* To preserve the current IPL and save it use */ +/* SET_AND_SAVE_CPU_IPL(save_to, ipl); the valid range of ipl */ +/* is 0-7 and may be any expression, save_to should denote */ +/* some temporary storage. */ +/* */ +/* int old_ipl; */ +/* */ +/* SET_AND_SAVE_CPU_IPL(old_ipl, 7); */ +/* */ +/* The IPL can be restored with RESTORE_CPU_IPL(saved_to) */ +/* */ +/* RESTORE_CPU_IPL(old_ipl); */ + +#define SET_CPU_IPL(ipl) { \ + int DISI_save; \ + \ + DISI_save = DISICNT; \ + asm volatile ("disi #0x3FFF"); \ + SRbits.IPL = ipl; \ + DISICNT = DISI_save; } (void) 0; + +#define SET_AND_SAVE_CPU_IPL(save_to, ipl) { \ + save_to = SRbits.IPL; \ + SET_CPU_IPL(ipl); } (void) 0; + +#define RESTORE_CPU_IPL(saved_to) SET_CPU_IPL(saved_to) + +#endif + diff --git a/include/serial.h b/include/serial.h new file mode 100644 index 0000000..d85d76e --- /dev/null +++ b/include/serial.h @@ -0,0 +1,65 @@ +/****************************************************************************** + + Actuator Interface Card + Serial Transmit + Copyright (C) 2008 Diego Caberlon Santini + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + + You can also obtain a copy of the GNU General Public License + at . + +******************************************************************************* +2008.06.13 -> Start by Diego Caberlon Santini, for now it is just transmission + */ +#ifndef SERIAL_H +#define SERIAL _H + +/** @file serial.h + * Serial Function + * @author Diego Caberlon Santini + */ + +/** @defgroup serial Serial Function +@{ + */ + +#include "buffer.h" + +/** Max Buffer Size + */ +#define SERIAL_SIZE BUFFER_SIZE + +/** Buffer to serial + */ +static buffer_info_t serial_buffer; + +/******************************************************************************/ +/** Finalizes serial + */ +void serial_end(void); +/******************************************************************************/ +/** Transmit data + * @param data Pointer to a string + * @param size sizeof string + * @return 0 OK and -1 to error + */ +int serial_write(char *data, int size); +/******************************************************************************/ +/** Initializes serial with 19200, 8n1, no flux control + */ +void serial_init(void); +/******************************************************************************/ +#endif diff --git a/include/sputtering.h b/include/sputtering.h deleted file mode 100644 index 0de2d01..0000000 --- a/include/sputtering.h +++ /dev/null @@ -1,89 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Sputtering Controller Host Interface Library - Copyright (C) 2007 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include - -#include - -#ifndef _SPUTTERING_H -#define _SPUTTERING_H - -/** @file sputtering.h - Sputtering Controller Host Interface Library - @author Walter Fetter Lages -*/ - -/** @defgroup sputhost Sputtering Controller Host Interface -@{ -*/ - - -/** SPUTTERING Controller -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ -class SPUTTERING: public AIC_UDP -{ - const int SHUTTER; - pthread_t get_status_th; - volatile int run; - - friend void *get_status(void *arg); - - public: - -/** Constructs an SPUTTERING -* @param name pointer to a string with the name of AIC to be connected to -* @param statport UDP port used to receive status from AIC -* @see aicnet.h -* @since AIC-1.6.1 -*/ - SPUTTERING(const char *name,int statport=STATUS_PORT); - -/** Destroys an SPUTTERING -*/ - ~SPUTTERING(void); - -/** Opens shutter for specified time -* @param us time in microseconds -* @since AIC-1.6.1 -*/ - void shutter(unsigned int us); - -/** Resets an SPUTTERING -* @since AIC-1.6.1 -*/ - void reset(void); - -/** Sets the reference for motor controller -* @param ref reference in rad -* @since AIC-1.6.1 -*/ - void reference(double ref); -}; - -/** -@} -*/ -#endif diff --git a/indextst/Makefile b/indextst/Makefile deleted file mode 100644 index 9ea7349..0000000 --- a/indextst/Makefile +++ /dev/null @@ -1,12 +0,0 @@ -all: indextst - -indextst: indextst.cpp ../lib/libaic.a - ${CXX} ${CMPFLAGS} -o indextst indextst.cpp ${LDFLAGS} - -clean: - rm -f *~ *.bak *.o - -install: - -distclean: clean - rm -f indextst diff --git a/indextst/indextst.cpp b/indextst/indextst.cpp deleted file mode 100644 index 269b13b..0000000 --- a/indextst/indextst.cpp +++ /dev/null @@ -1,64 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Index Test - Copyright (C) 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include -using namespace std; - -#include - -#include -#include - -int main(int argc,char *argv[]) -{ - cout << "\nAIC Index Test Program\n"; - cout << "Copyright (C) 2003 Walter Fetter Lages .\n\n"; - - if((argc < 2) || (argc > 4) || - ((argc >= 3) && strcasecmp(argv[1],"-UDP"))) - { - cout << "USAGE:\t" << argv[0] << " can_id\n"; - cout << "\tor\n\t" << argv[0] << " -UDP aic [status_port]\n"; - return -1; - } - - AIC *aic; - switch(argc) - { - default: - case 2: aic=new AIC_CAN(atoi(argv[1])); break; - case 3: aic=new AIC_UDP(argv[2]); break; - case 4: aic=new AIC_UDP(argv[2],atoi(argv[3])); break; - } - - for(;;) - { - cout << "Index reading: " << aic->index.read() << "\n"; - } - - delete aic; - - return 0; -} diff --git a/jointtst/Makefile b/jointtst/Makefile deleted file mode 100644 index 1e9423f..0000000 --- a/jointtst/Makefile +++ /dev/null @@ -1,12 +0,0 @@ -all: jointtst - -jointtst: jointtst.cpp ../lib/libaic.a - ${CXX} ${CMPFLAGS} -o jointtst jointtst.cpp ${LDFLAGS} - -clean: - rm -f *~ *.bak *.o - -install: - -distclean: clean - rm -f jointtst diff --git a/jointtst/jointtst.cpp b/jointtst/jointtst.cpp deleted file mode 100644 index b2138b5..0000000 --- a/jointtst/jointtst.cpp +++ /dev/null @@ -1,109 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Robot Joint Test - Copyright (C) 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include - -#include -#include - -#include -#include - -#include - -#include -#include - -const int ST=1000; - -void iter(AIC *aic,int i) -{ - aic->motor=i; - gotoxy(1,5); - cout << "Motor Voltage: " << i << "V\t"; - cout << "Index: " << aic->index.read() << "\t"; - cout << "Encoder: " << aic->encoder.read() << "rad\n"; - delay(ST); -} - -int main(int argc,char *argv[]) -{ - int i; - int run=1; - - clrscr(); - cout << "\nAIC Robot Joint Test Program\n"; - cout << "Copyright (C) 2003 Walter Fetter Lages .\n\n"; - - if((argc < 2) || (argc > 4) || - ((argc >= 3) && strcasecmp(argv[1],"-UDP"))) - { - cout << "USAGE:\t" << argv[0] << " can_id\n"; - cout << "\tor\n\t" << argv[0] << " -UDP aic [status_port]\n"; - return -1; - } - - AIC *aic; - switch(argc) - { - default: - case 2: aic=new AIC_CAN(atoi(argv[1])); break; - case 3: aic=new AIC_UDP(argv[2]); break; - case 4: aic=new AIC_UDP(argv[2],atoi(argv[3])); break; - } - - aic->motor.on(); - aic->brake.release(); - - for(i=0;(i <= 24) && run;i++) - { - if(kbhit()) run=0; - iter(aic,i); - } - while(run) - { - for(i=24;(i > -24) && run;i--) - { - if(kbhit()) run=0; - iter(aic,i); - } - for(i=-24;(i <= 24) && run;i++) - { - if(kbhit()) run=0; - iter(aic,i); - } - } - getch(); - - aic->motor=0; - aic->brake.apply(); - aic->motor.off(); - - delete aic; - - clrscr(); - return 0; - -} diff --git a/lib/AIC.java b/lib/AIC.java deleted file mode 100644 index 18fe1ff..0000000 --- a/lib/AIC.java +++ /dev/null @@ -1,105 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - - Copyright (C) 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -/** @defgroup aichardware AIC Hardware Interface -@{ -*/ - -/** AIC Hardware Interface -*/ -package br.ufrgs.ece.AIC; - -/** Provides access to all devices in an Actuator Interface Card -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ -public class AIC -{ - -/** Motor actuated by AIC -* @see Motor -*/ - public Motor motor; - -/** Encoder read by AIC -* @see Encoder -*/ - public Encoder encoder; - - -/** Brake actuaded by AIC -* @see Brake -*/ - public Brake brake; - - -/** Sync-switch read by AIC -* @see Index -*/ - public Index index; - -/** Turns an AIC on -*/ - public void on() - { - motor.on(); - encoder.clear(); - } - -/** Turns an AIC off -*/ - public void off() - { - motor.set(0); - brake.apply(); - motor.off(); - encoder.clear(); - } - -/** Initializes an AIC -* @param base Base address for on board devices -* @param vm Motor Voltage -* @param freq PWM frequency -* @param np Pulses per encoder revolution -*/ - public AIC(int base,double vm,double freq,int np) - { - motor=new Motor(base,vm,freq); - encoder=new Encoder(base,np); - brake=new Brake(base); - index=new Index(base); - } - -/** Finalizes an AIC -*/ - public void finalize() - { - off(); - } - -} - -/** -@} -*/ diff --git a/lib/Brake.java b/lib/Brake.java deleted file mode 100644 index 26e7a21..0000000 --- a/lib/Brake.java +++ /dev/null @@ -1,69 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Brake Interface - Copyright (C) 2003,2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -package br.ufrgs.ece.AIC; - -/** @addtogroup aichardware -@{ -*/ - -/** Provides access to electromagnetic brake in an Actuator Interface Card -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -*/ -public final class Brake -{ -/** True if native library was loaded -*/ - private static boolean libLoaded=false; - -/** Brake native initialization -* @param base Base address for on board devices -*/ - private static native void initialize(int base); - -/** Initializes Brake. Loads the corresponding native library. -* @param base Base address for on board devices -*/ - public Brake(int base) - { - if(!libLoaded) System.loadLibrary("brake.tlib"); - libLoaded=true; - - initialize(base); - } - -/** Applies the electromagnetic brake -*/ - public static native void apply(); - -/** Releases the electromagnetic brake -*/ - public static native void release(); - -} -/** -@} -*/ diff --git a/lib/CtrlRegister.java b/lib/CtrlRegister.java deleted file mode 100644 index 8df39e3..0000000 --- a/lib/CtrlRegister.java +++ /dev/null @@ -1,59 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Control Register Constants - Copyright (C) 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -package br.ufrgs.ece.AIC; - -/** @addtogroup aichardware -@{ -*/ - -/** Provides constants for using the control register in an Actuator Interface Card -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -* @since AIC-1.2.0 -* @deprecated -*/ -public class CtrlRegister -{ -/** PWM disable -*/ - public static final int PWMDISABLE=0x00; - -/** PWM enable -*/ - public static final int PWMENABLE=0x01; - -/** Apply Brake -*/ - public static final int BRAKEAPPLY=0x02; - -/** Release Brake -*/ - public static final int BRAKERELEASE=0x03; -} - -/** -@} -*/ diff --git a/lib/Encoder.java b/lib/Encoder.java deleted file mode 100644 index 25a70cf..0000000 --- a/lib/Encoder.java +++ /dev/null @@ -1,111 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Encoder Interface - Copyright (C) 2003,2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -package br.ufrgs.ece.AIC; - -/** @addtogroup aichardware -@{ -*/ - -/** Provides access to incremental encoder in an Actuator Interface Card -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -*/ -public final class Encoder -{ -/** True if native library was loaded -*/ - private static boolean libLoaded=false; - -/** Number of pulses per revolution of the encoder, considering the -* quadrature decoder -*/ - public final int PULSES; - -/** Clears the counter on the quadrature decoder chip -*/ - public static native void clear(); - -/** Encoder native initialization, clears the counter on the quadrature decoder chip -* @param base Base address for on board devices -*/ - private static native void initialize(int base); - -/** Initializes Encoder, clears the counter on the quadrature decoder chip -* @param base Base address for on board devices -* @param pulses Number of pulses per revolution of the encoder, considering the -* quadrature decoder -*/ - public Encoder(int base,int pulses) - { - if(!libLoaded) System.loadLibrary("encoder.tlib"); - libLoaded=true; - - PULSES=pulses; - - initialize(base); - } - -/** Finalizes Encoder -*/ - public native void finalize(); - -/** Gets the count on the quadrature decoder chip -* @return the number of pulses (in 2-complement) since the last time -* the counter was cleared -*/ - public static native int getCount(); - -/** Gets the count and clears the counter on the quadrature decoder chip -* @return the number of pulses (in 2-complement) since the last time -* the counter was cleared -*/ - public static native int getCountAndClear(); - -/** Reads the counter on the quadrature decoder chip and converts the motion -* to radians -* @return the displacement in radians since the last time -* the encoder was cleared -*/ - public double read() - { - return ((2*java.lang.Math.PI/PULSES)*getCount()); - } - -/** Reads the counter on the quadrature decoder chip, converts the motion -* to radians and clears the counter -* @return the displacement in radians since the last time -* the encoder was cleared -*/ - public double readAndClear() - { - return ((2*java.lang.Math.PI/PULSES)*getCountAndClear()); - } - -} - -/** -@} -*/ diff --git a/lib/Host.java b/lib/Host.java deleted file mode 100644 index 76e651c..0000000 --- a/lib/Host.java +++ /dev/null @@ -1,167 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Host Interface - Copyright (C) 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -package br.ufrgs.ece.AIC; - -import java.lang.*; - -/** @addtogroup aichardware -@{ -*/ - -/** Provides access to host computer through a derived class -* @see HostCAN -* @see HostUDP -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ -abstract public class Host -{ -/** Invalid command -*/ - public static final int INVALID=0x00; - -/** AIC reset command -*/ - public static final int RESET=0x01; - -/** Motor off command -*/ - public static final int MOTOR_OFF=0x02; - -/** Brake apply command -*/ - public static final int BRAKE_APPLY=0x03; - -/** Motor actuate command -*/ - public static final int MOTOR_ACT=0x10; - -/** Motor controller reference command -*/ - public static final int MOTOR_REF=0x15; - -/** Status message identifier -*/ - public static final int STATUS=0x20; - -/** Brake release command -*/ - public static final int BRAKE_RELEASE=0x30; - -/** Motor on command -*/ - public static final int MOTOR_ON=0x31; - -/** User defined command 0 -*/ - public static final int USER0=0x3b; - -/** User defined command 1 -*/ - public static final int USER1=0x3c; - -/** User defined command 2 -*/ - public static final int USER2=0x3d; - -/** User defined command 3 -*/ - public static final int USER3=0x3e; - -/** No operation command -*/ - public static final int NOP=0x3f; - - -/** Index on status -*/ - public static final int INDEX_ON=0x01; - -/** Busy status -*/ - public static final int BUSY=0x02; - -/** Voltage aplied to motors -*/ - protected double u=0; - -/** Reference for controller associated to motors -*/ - protected double ref=0; - -/** Gets command received from host computer -* @return command code -* @throws Exception depending on implementation -*/ - public int command() throws Exception - { - byte[] args= new byte[256]; - return command(args,256); - } - -/** Gets command received from host computer and its arguments array -* @param args command arguments array. args[0] is the length of actual arguments. -* @param size size of the arguments array -* @return command code -* @throws Exception depending on implementation -* @since AIC-1.6.1 -*/ - abstract public int command(byte[] args,int size) throws Exception; - -/** Sends encoder displacement and sync-switch status to host -* @param disp encoder displacement in rad -* @param index sync-switch status -* @throws Exception depending on implementation -*/ - abstract public void sendStatus(double disp,int index) throws Exception; - -/** Sends encoder displacement and sync-switch status to host -* @param disp encoder displacement in pulses -* @param index sync-switch status -* @throws Exception depending on implementation -*/ - abstract public void sendStatus(int disp,int index) throws Exception; - -/** Gets motor voltage -* @return motor voltage -*/ - public double voltage() - { - return u; - } - -/** Gets controller reference -* @return controller reference -* @since AIC-1.6.0 -*/ - public double reference() - { - return ref; - } -} - -/** -@} -*/ diff --git a/lib/HostCAN.java b/lib/HostCAN.java deleted file mode 100644 index 241610d..0000000 --- a/lib/HostCAN.java +++ /dev/null @@ -1,213 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Host Interface - CAN communication - Copyright (C) 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -package br.ufrgs.ece.AIC; - -import com.dalsemi.comm.*; -import com.dalsemi.system.*; -import java.lang.*; - -/** @addtogroup aichardware -@{ -*/ - -/** Provides access host computer through CAN bus -* @see HostUDP -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ -public class HostCAN extends Host -{ - /* 125Kbit/s with crystal of 18.432MHz */ - private static final int CAN_DIVISOR = 7; - private static final int CAN_TSEG1 = 13; - private static final int CAN_TSEG2 = 7; - private static final int CAN_SJW = 1; - private static final int TXCENTER=1; - private static final int RXCENTER=2; - private static final int AIC_ID_MASK=0x01f; - private static final int AIC_CMD_MASK=0x7e0; - - private int id; - private CanBus canbus; - -/** Initializes HostCAN -* @param aicid AIC identification on bus from 1 to 31 -* @param bus CAN bus to use 0 or 1 -* @throws CanBusException on CAN bus errors -*/ - public HostCAN(int aicid,int bus) throws CanBusException - { - u=0; - - id=aicid; - - canbus = (bus==0)? new CanBus(CanBus.CANBUS0):new CanBus(CanBus.CANBUS1); - canbus.setBaudRatePrescaler(CAN_DIVISOR); - canbus.setTSEG1(CAN_TSEG1); - canbus.setTSEG2(CAN_TSEG2); - canbus.setSynchronizationJumpWidth(CAN_SJW); - - canbus.setMessageCenterTXMode(TXCENTER); - - canbus.setMessageCenterRXMode(RXCENTER); - canbus.set11BitGlobalIDMask(AIC_ID_MASK); - canbus.setMessageCenterMessageIDMaskEnable(RXCENTER,true); - canbus.set11BitMessageCenterArbitrationID(RXCENTER,id); - canbus.setMessageCenterWriteOverEnable(RXCENTER,true); - canbus.enableMessageCenter(RXCENTER); - -// canbus.setMessageCenterRXMode(15); -// canbus.set11BitMessageCenter15IDMask(0); -// canbus.set29BitMessageCenter15IDMask(AIC_ID_MASK); -// canbus.setMessageCenterMessageIDMaskEnable(15,true); -// canbus.set11BitMessageCenterArbitrationID(15,id); -// canbus.setMessageCenterWriteOverEnable(15,true); - canbus.disableMessageCenter(15); - - canbus.enableController(); - - } - -/** Initializes HostCAN using CAN bus 0 as default -* @param aicid AIC identification on bus from 1 to 31 -* @throws CanBusException on CAN bus errors -*/ - public HostCAN(int aicid) throws CanBusException - { - u=0; - - id=aicid; - - canbus = new CanBus(CanBus.CANBUS0); - canbus.setBaudRatePrescaler(CAN_DIVISOR); - canbus.setTSEG1(CAN_TSEG1); - canbus.setTSEG2(CAN_TSEG2); - canbus.setSynchronizationJumpWidth(CAN_SJW); - - canbus.setMessageCenterTXMode(TXCENTER); - - canbus.setMessageCenterRXMode(RXCENTER); - canbus.set11BitGlobalIDMask(AIC_ID_MASK); - canbus.setMessageCenterMessageIDMaskEnable(RXCENTER,true); - canbus.set11BitMessageCenterArbitrationID(RXCENTER,id); - canbus.setMessageCenterWriteOverEnable(RXCENTER,true); - canbus.enableMessageCenter(RXCENTER); - -// canbus.setMessageCenterRXMode(15); -// canbus.set11BitMessageCenter15IDMask(0); -// canbus.set29BitMessageCenter15IDMask(AIC_ID_MASK); -// canbus.setMessageCenterMessageIDMaskEnable(15,true); -// canbus.set11BitMessageCenterArbitrationID(15,id); -// canbus.setMessageCenterWriteOverEnable(15,true); - canbus.disableMessageCenter(15); - - canbus.enableController(); - } - -/** Finalizes HostCAN -* @throws CanBusException on CAN bus errors -*/ - public void finalize() throws CanBusException - { - canbus.close(); - } - -/** Gets command received from host computer -* @param args command arguments array. args[0] is the length of actual arguments. -* @param size size of the arguments array -* @return command code -* @throws CanBusException on CAN bus errors -*/ - public int command(byte[] args,int size) throws CanBusException - { - CanFrame frame = new CanFrame(); - - canbus.receive(frame); - - if(size <= frame.length) args[0]=(byte)(size-1); - else args[0]=(byte)frame.length; - - for(int i=0;i < args[0];i++) args[i+1]=frame.data[i]; - - int cmd=((frame.ID & AIC_CMD_MASK) >> 5); - - switch(cmd) - { - case MOTOR_ACT: - { - long U=0; - for(int i=0;i < 8;i++) U=U | ( (((long)frame.data[7-i]) << (i*8)) & (0xffL << (i*8)) ); - u=Double.longBitsToDouble(U); - break; - } - case MOTOR_REF: - { - long R=0; - for(int i=0;i < 8;i++) R=R | ( (((long)frame.data[7-i]) << (i*8)) & (0xffL << (i*8)) ); - ref=Double.longBitsToDouble(R); - break; - } - } - return cmd; - } - -/** Sends encoder displacement and sync-switch status to host -* @param disp encoder displacement in rad -* @param index sync-switch status -* @throws CanBusException on CAN bus errors -*/ - public void sendStatus(double disp,int index) throws CanBusException - { - int cmd=id | (STATUS << 5); - byte[] data=new byte[8]; - float f=(float) disp; - - int fl=Float.floatToIntBits(f); - - for(int i=0;i < 4;i++) data[3-i]=(byte)((fl >> (8*i)) & 0xff); - for(int i=0;i < 4;i++) data[7-i]=(byte)((index >> (8*i)) & 0xff); - canbus.sendDataFrame(cmd,false,data); - } - -/** Sends encoder displacement and sync-switch status to host -* @param disp encoder displacement in pulses -* @param index sync-switch status -* @throws CanBusException on CAN bus errors -*/ - public void sendStatus(int disp,int index) throws CanBusException - { - int cmd=id | (STATUS << 5); - byte[] data=new byte[8]; - - for(int i=0;i < 4;i++) data[i]=(byte)((disp >> (8*i)) & 0xff); - for(int i=0;i < 4;i++) data[i+4]=(byte)((index >> (8*i)) & 0xff); - canbus.sendDataFrame(cmd,false,data); - } - -} -/** -@} -*/ diff --git a/lib/HostUDP.java b/lib/HostUDP.java deleted file mode 100644 index 5858e04..0000000 --- a/lib/HostUDP.java +++ /dev/null @@ -1,192 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Host Interface - UDP communication - Copyright (C) 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -package br.ufrgs.ece.AIC; - -import com.dalsemi.tininet.*; -import java.net.*; -import java.lang.*; -import java.io.*; - -/** @addtogroup aichardware -@{ -*/ - -/** Provides access host computer through UDP connetion -* @see HostCAN -* @author Walter Fetter Lages (w.fetter@ieee.org) -*/ -public class HostUDP extends Host -{ - private static final int CMD_PORT=9880; - private static final int STATUS_PORT=9877; - - // socket for receiving command - private TINIDatagramSocket cmdfd; - - // socket for transmitting status signal - private TINIDatagramSocket statusfd; - private InetAddress controlleraddr; - private int statusport; - - -/** Initializes HostUDP -* @param controllername name of host computer -* @param statport UDP port on host to send status to -* @param cmdport UDP port on AIC to receive commands from host -* @throws UnknownHostException if host is unknown -* @throws SocketException on socket errors -*/ - public HostUDP(String controllername,int statport,int cmdport) throws UnknownHostException, SocketException - { - u=0; - ref=0; - statusport=statport; - - controlleraddr=InetAddress.getByName(controllername); - statusfd=new TINIDatagramSocket(); - cmdfd=new TINIDatagramSocket(cmdport); - } - -/** Initializes HostUDP using default command port numbers -* @param controllername name of host computer -* @param statport UDP port on host to send status to -* @throws UnknownHostException if host is unknown -* @throws SocketException on socket errors -*/ - public HostUDP(String controllername,int statport) throws UnknownHostException, SocketException - { - u=0; - ref=0; - statusport=statport; - - controlleraddr=InetAddress.getByName(controllername); - statusfd=new TINIDatagramSocket(); - cmdfd=new TINIDatagramSocket(CMD_PORT); - } - -/** Initializes HostUDP using default status and command port numbers -* @param controllername name of host computer -* @throws UnknownHostException if host is unknown -* @throws SocketException on socket errors -*/ - public HostUDP(String controllername) throws UnknownHostException, SocketException - { - u=0; - ref=0; - statusport=STATUS_PORT; - - controlleraddr=InetAddress.getByName(controllername); - statusfd=new TINIDatagramSocket(); - cmdfd=new TINIDatagramSocket(CMD_PORT); - } - -/** Finalizes HostUDP -*/ - public void finalize() - { - statusfd.close(); - cmdfd.close(); - } - -/** Gets command received from host computer -* @param args command arguments array. args[0] is the length of actual arguments. -* @param size size of the arguments array -* @return command code -* @throws IOException on communication errors -*/ - public int command(byte[] args,int size) throws IOException - { - int s; - if(size < 256) s=256; else s=size; - - DatagramPacket p=new DatagramPacket(args,s); - - cmdfd.receive(p); - - int cmd=args[0]; - args[0]=(byte)(p.getLength()-1); - - switch(cmd) - { - case MOTOR_ACT: - { - long U=0; - for(int i=0;i < 8;i++) U=U | ( (((long) args[7-i+1]) << (i*8)) & (0xffL << (i*8)) ); - u=Double.longBitsToDouble(U); - break; - } - case MOTOR_REF: - { - long R=0; - for(int i=0;i < 8;i++) R=R | ( (((long) args[7-i+1]) << (i*8)) & (0xffL << (i*8)) ); - ref=Double.longBitsToDouble(R); - break; - } - } - - return cmd; - } - -/** Sends encoder displacement and sync-switch status to host -* @param disp encoder displacement in rad -* @param index sync-switch status -* @throws IOException on communication errors -*/ - public void sendStatus(double disp,int index) throws IOException - { - byte[] buff=new byte[13]; - buff[0]=STATUS; - - long dl=Double.doubleToLongBits(disp); - - for(int i=0;i < 8;i++) buff[7-i+1]=(byte)((dl >> (8*i)) & 0xff); - for(int i=0;i < 4;i++) buff[12-i]=(byte)((index >> (8*i)) & 0xff); - - DatagramPacket p=new DatagramPacket(buff,13,controlleraddr,statusport); - statusfd.send(p); - } - -/** Sends encoder displacement and sync-switch status to host -* @param disp encoder displacement in pulses -* @param index sync-switch status -* @throws IOException on communication errors -*/ - public void sendStatus(int disp,int index) throws IOException - { - byte[] buff=new byte[9]; - buff[0]=STATUS; - - for(int i=0;i < 4;i++) buff[4-i]=(byte)((disp >> (8*i)) & 0xff); - for(int i=0;i < 4;i++) buff[8-i]=(byte)((index >> (8*i)) & 0xff); - DatagramPacket p=new DatagramPacket(buff,9,controlleraddr,statusport); - statusfd.send(p); - } - -} -/** -@} -*/ diff --git a/lib/Index.java b/lib/Index.java deleted file mode 100644 index 8961024..0000000 --- a/lib/Index.java +++ /dev/null @@ -1,65 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Index Interface - Copyright (C) 2003,2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -package br.ufrgs.ece.AIC; - -/** @addtogroup aichardware -@{ -*/ - -/** Provides access to sync-switch in an Actuator Interface Card -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -*/ -public final class Index -{ -/** True if native library was loaded -*/ - private static boolean libLoaded=false; - -/** Index native initialization, clears the counter on the quadrature decoder chip -* @param base Base address for on board devices -*/ - private static native void initialize(int base); - -/** Initializes Index -* @param base Base address for on board devices -*/ - public Index(int base) - { - if(!libLoaded) System.loadLibrary("index.tlib"); - libLoaded=true; - - initialize(base); - } - -/** Reads the sync-switch -* @return the sync-switch state -*/ - public static native boolean read(); -} -/** -@} -*/ diff --git a/lib/Makefile b/lib/Makefile index 9a28049..3d422a8 100644 --- a/lib/Makefile +++ b/lib/Makefile @@ -1,185 +1,16 @@ -export CLASSPATH:=${CLASSPATH}:. +all: libdebug.a -all: AIC.jar libaic.a aicio.mpp.lib +serial.o:serial.c + $(CC) $(CPU) -x c -c $^ $(CCINCDIR) $(CCFLAGS) -${PKGPATH}/PLD.class: PLD.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . PLD.java +buffer.o:buffer.c + $(CC) $(CPU) -x c -c $^ $(CCINCDIR) $(CCFLAGS) -${PKGPATH}/CtrlRegister.class: CtrlRegister.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . CtrlRegister.java - -${PKGPATH}/PWM.class: PWM.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . PWM.java - -${PKGPATH}/Motor.class: Motor.java ${PKGPATH}/PWM.class - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Motor.java - -${PKGPATH}/Encoder.class: Encoder.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Encoder.java - -${PKGPATH}/Brake.class: Brake.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Brake.java - -${PKGPATH}/Index.class: Index.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Index.java - -${PKGPATH}/AIC.class: AIC.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . AIC.java - -${PKGPATH}/Host.class: Host.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Host.java - -${PKGPATH}/HostUDP.class: HostUDP.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . HostUDP.java - -${PKGPATH}/HostCAN.class: HostCAN.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . HostCAN.java - -${PKGPATH}/Sputtering.class: Sputtering.java - ${JAVAC} ${JAVAFLAGS} ${CLASSPATH} -d . Sputtering.java - -${ASMINC}/tini.inc: ${NATINC}/tini.inc - ln -s ${NATINC}/tini.inc ${ASMINC}/tini.inc - -${ASMINC}/tinimacro.inc: ${NATINC}/tinimacro.inc - ln -s ${NATINC}/tinimacro.inc ${ASMINC}/tinimacro.inc - -${ASMINC}/ds80c390.inc: ${NATINC}/ds80c390.inc - ln -s ${NATINC}/ds80c390.inc ${ASMINC}/ds80c390.inc - -${ASMINC}/apiequ.inc: ${NATINC}/apiequ.inc - ln -s ${NATINC}/apiequ.inc ${ASMINC}/apiequ.inc - -brake.tlib: brake.mpp - ${ASM} ${ASMOPT} brake.mpp - -brake.mpp: tlib/brake.mpp aicio/brake.mpp - cat tlib/brake.mpp aicio/brake.mpp > brake.mpp - echo end >> brake.mpp - -tlib/brake.mpp: tlib/brake.a51 - $(MAKE) -C tlib brake.mpp - -aicio/brake.mpp: aicio/brake.a51 - $(MAKE) -C aicio brake.mpp - -index.tlib: index.mpp - ${ASM} ${ASMOPT} index.mpp - -index.mpp: tlib/index.mpp aicio/index.mpp - cat tlib/index.mpp aicio/index.mpp > index.mpp - echo end >> index.mpp - -tlib/index.mpp: tlib/index.a51 - $(MAKE) -C tlib index.mpp - -aicio/index.mpp: aicio/index.a51 - $(MAKE) -C aicio index.mpp - -encoder.tlib: encoder.mpp - ${ASM} ${ASMOPT} encoder.mpp - -encoder.mpp: tlib/encoder.mpp aicio/encoder.mpp - cat tlib/encoder.mpp aicio/encoder.mpp > encoder.mpp - echo end >> encoder.mpp - -tlib/encoder.mpp: tlib/encoder.a51 - $(MAKE) -C tlib encoder.mpp +libdebug.a:serial.o buffer.o + $(CCAR) -crvs $@ $^ -aicio/encoder.mpp: aicio/encoder.a51 - $(MAKE) -C aicio encoder.mpp - -pwm.tlib: pwm.mpp - ${ASM} ${ASMOPT} pwm.mpp - -pwm.mpp: tlib/pwm.mpp aicio/pwm.mpp - cat tlib/pwm.mpp aicio/pwm.mpp > pwm.mpp - echo end >> pwm.mpp - -tlib/pwm.mpp: tlib/pwm.a51 - $(MAKE) -C tlib pwm.mpp - -aicio/pwm.mpp: aicio/pwm.a51 - $(MAKE) -C aicio pwm.mpp - -sputtering.tlib: sputtering.mpp - ${ASM} ${ASMOPT} sputtering.mpp - -sputtering.mpp: tlib/sputtering.mpp ${TRTAIPATH}/lib/rtai.mpp.lib aicio.mpp.lib - cat tlib/sputtering.mpp ${TRTAIPATH}/lib/rtai.mpp.lib aicio.mpp.lib > sputtering.mpp - echo end >> sputtering.mpp - -tlib/sputtering.mpp: tlib/sputtering.c - $(MAKE) -C tlib sputtering.mpp - -AIC.jar: ${PKGPATH}/PLD.class\ - ${PKGPATH}/CtrlRegister.class\ - ${PKGPATH}/PWM.class\ - ${PKGPATH}/Motor.class\ - ${PKGPATH}/Encoder.class\ - ${PKGPATH}/Brake.class\ - ${PKGPATH}/Index.class\ - ${PKGPATH}/AIC.class \ - ${PKGPATH}/Host.class \ - ${PKGPATH}/HostUDP.class \ - ${PKGPATH}/HostCAN.class \ - ${PKGPATH}/Sputtering.class \ - brake.tlib index.tlib encoder.tlib pwm.tlib sputtering.tlib - jar cf AIC.jar ${PKGPATH} brake.tlib index.tlib encoder.tlib pwm.tlib sputtering.tlib - -aic.o: aic.cpp ../include/aic.h - ${CXX} ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aic.cpp - -aicudp.o: aicudp.cpp ../include/aic.h ../include/aicnet.h ../include/aicudp.h - ${CXX} ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aicudp.cpp - -aiccan.o: aiccan.cpp ../include/aic.h ../include/aicnet.h ../include/aiccan.h - ${CXX} ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aiccan.cpp - -aicsim.o: aicsim.cpp ../include/aic.h ../include/aicnet.h ../include/aicsim.h - ${CXX} ${CMPFLAGS} ${INCLUDE} ${CPPINCLUDE} -c aicsim.cpp - -aichost.o: aichost.cpp ../include/aichost.h ../include/aicnet.h - ${CXX} ${CMPFLAGS} -c aichost.cpp - -aichostudp.o: aichostudp.cpp ../include/aichostudp.h ../include/aicnet.h - ${CXX} ${CMPFLAGS} -c aichostudp.cpp - -aichostcan.o: aichostcan.cpp ../include/aichostcan.h ../include/aicnet.h - ${CXX} ${CMPFLAGS} -c aichostcan.cpp - -sputtering.o: sputtering.cpp ../include/aicudp.h ../include/sputtering.h - ${CXX} ${CMPFLAGS} -c sputtering.cpp - -libaic.a: aic.o aicudp.o aiccan.o aicsim.o aichost.o aichostudp.o aichostcan.o sputtering.o - ar -crvs libaic.a aic.o aicudp.o aiccan.o aicsim.o aichost.o aichostudp.o aichostcan.o sputtering.o - -aicio.mpp.lib: aicio/aicio.mpp.lib - cp aicio/aicio.mpp.lib . - -aicio/aicio.mpp.lib: aicio/brake.a51 aicio/index.a51 aicio/pwm.a51 aicio/encoder.a51 - $(MAKE) -C aicio - -install: - install -m 0644 libaic.a ${LIBINST} - install -m 0644 AIC.jar ${LIBINST} - install -m 0755 -d ${INCLUDEINST}/cpp - install -m 0644 ../include/*.h ${INCLUDEINST}/cpp - $(MAKE) -C tlib install - clean: - rm -rf *.o *~ *.bak *.class ../include/{*.bak,*~} br *.tlib *.mpp ${TINIINC} *.lst - $(MAKE) -C aicio clean - $(MAKE) -C tlib clean - -distclean: clean - rm -rf AIC.jar *.a aicio.mpp.lib - $(MAKE) -C aicio distclean - $(MAKE) -C tlib distclean - -uninstall: - rm ${LIBINST}/libaic.a - rm ${LIBINST}/AIC.jar - rm ${INCLUDEINST}/cpp/aic.h - rm ${INCLUDEINST}/cpp/aicnet.h - $(MAKE) -C tlib uninstall + rm -f *.o *~ + +distclean:clean + rm -f libdebug.a \ No newline at end of file diff --git a/lib/Motor.java b/lib/Motor.java deleted file mode 100644 index 5f9e8cb..0000000 --- a/lib/Motor.java +++ /dev/null @@ -1,102 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Motor Interface - Copyright (C) 2003, 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -package br.ufrgs.ece.AIC; - -/** @addtogroup aichardware -@{ -*/ - -/** Provices access to the motor driver in an Actuator Interface Card -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -*/ -public class Motor -{ - - private double volt2duty; - private PWM pwm; - -/** Initializes the motor driver -* @param baseadd Base address for on board devices -* @param voltage Motor Voltage -* @param freq PWM frequency -*/ - public Motor(int baseadd,double voltage,double freq) - { - volt2duty=0.5/voltage; - - pwm=new PWM(baseadd,freq); - pwm.off(); - } - -/** Initializes the motor driver using the default PWM frequency (20KHz) -* @param baseadd Base address for on board devices -* @param voltage Motor Voltage -*/ - public Motor(int baseadd,double voltage) - { - volt2duty=0.5/voltage; - - pwm=new PWM(baseadd); - pwm.off(); - } - -/** Finalizes the motor driver -*/ - public void finalize() - { - pwm.off(); - } - -/** Turns the motor driver on -*/ - public void on() - { - pwm.on(); - }; - -/** Turns the motor driver off -*/ - public void off() - { - pwm.off(); - }; - -/** Sets the voltage to be applied by the motor driver -* @param voltage to be applied by the motor driver -* @return the duty-cycle of the associated PWM -*/ - public double set(double voltage) - { - int dutycycle=((int)(voltage*volt2duty*1000000))+500000; - pwm.setDuty(dutycycle); - return dutycycle; - }; -}; - -/** -@} -*/ diff --git a/lib/PLD.java b/lib/PLD.java deleted file mode 100644 index 1ccef6f..0000000 --- a/lib/PLD.java +++ /dev/null @@ -1,58 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - PLD Constants - Copyright (C) 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -package br.ufrgs.ece.AIC; - -/** @addtogroup aichardware -@{ -*/ - -/** Provides constants defining addresses for devices in an Actuator Interface Card -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -* @since AIC-1.2.0 -* @deprecated -*/ -public class PLD -{ -/** PWM address -* @see PWM -*/ - public static final int PWM=0x80000; - -/** Encoder address -* @see Encoder -*/ - public static final int ENCODER=0x90000; - -/** Control register address -* @see CtrlRegister -*/ - public static final int CONTROL=0xA0000; -} - -/** -@} -*/ diff --git a/lib/PWM.java b/lib/PWM.java deleted file mode 100644 index 9606744..0000000 --- a/lib/PWM.java +++ /dev/null @@ -1,151 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - PWM Interface - Copyright (C) 2003,2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -package br.ufrgs.ece.AIC; - -/** @addtogroup aichardware -@{ -*/ - -/** Provices access to the PWM in an Actuator Interface Card -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.3.0 -*/ -public final class PWM -{ -/** True if native library was loaded -*/ - private static boolean libLoaded=false; - -/** Reference frequency = 10MHz -*/ - public static final double REF_FREQ=10e6; - -/** Default Switching Frequency = 20KHz -*/ - public static final double SW_FREQ=20e3; - - private static final double TURNOFF_DELAY=600e-9; - private static final int MIN_COUNT=(int)(2*TURNOFF_DELAY*REF_FREQ); - private static final int MAX_COUNT=(int)(REF_FREQ/SW_FREQ); - - private int max_count=MAX_COUNT; - -/** Sets the frequency of PWM in cycles of 10MHz -* @param count number of cycles from 10 to 65530. Default -* value is 500 -* @since AIC-1.3.0 -*/ - public static native void setCount(int count); - -/** Sets the frequency of PWM -* @param frequency frequency in Hz from 152.60Hz to 1MHz. Default -* value is 20KHz -*/ - public void setFreq(double frequency) - { - max_count=(int)(REF_FREQ/frequency) & 0xffff; - setCount(max_count); - } - -/** Returns the frequency of PWM -* @return PWM frequency in Hz -*/ - public double getFreq() - { - return REF_FREQ/max_count; - } - -/** PWM native initialization -* @param base Base address for on board devices -* @param min_count MIN_COUNT -* @param count frequency of PWM in cycles of 10MHz. Number of cycles -* from 10 to 65530. -*/ - private static native void initialize(int base,int min_count,int count); - -/** Initializes the PWM -* @param base Base address for on board devices -* @param freq PWM frequency -*/ - public PWM(int base,double freq) - { - if(!libLoaded) System.loadLibrary("pwm.tlib"); - libLoaded=true; - - int count=(int)(REF_FREQ/freq) & 0xffff; - initialize(base,MIN_COUNT,count); - } - -/** Initializes the PWM using the default PWM frequency (20KHz) -* @param base Base address for on board devices -*/ - public PWM(int base) - { - if(!libLoaded) System.loadLibrary("pwm.tlib"); - libLoaded=true; - - int count=(int)(REF_FREQ/SW_FREQ) & 0xffff; - initialize(base,MIN_COUNT,count); - } - -/** Finalizes the PWM -*/ - public native void finalize(); - -/** Sets the duty-cycle of PWM -* @param dutycycle to be used by PWM as a double from 0 to 1.0 -* @return the count value programmed to the PWM timer -*/ - public int setDuty(double dutycycle) - { -// if(dutycycle < 0.0) dutycycle=0.0; -// if(dutycycle > 1.0) dutycycle=1.0; -// int count=(int)(max_count*(1.0-dutycycle)); -// int count=max_count-(int)(max_count*dutycycle); -// if(count < MIN_COUNT) count=MIN_COUNT; -// if(count > max_count-MIN_COUNT) count=max_count-MIN_COUNT; - - return setDuty((int)(dutycycle*1000000)); -// return count; - } - -/** Sets the duty-cycle of PWM -* @param dutycycle to be used by PWM as a int from 0 to 1000000 -* @return the count value programmed to the PWM timer -*/ - public static native int setDuty(int dutycycle); - -/** Turns the PWM on -*/ - public static native void on(); - -/** Turns the PWM off -*/ - public static native void off(); -} -/** -@} -*/ diff --git a/lib/Sputtering.java b/lib/Sputtering.java deleted file mode 100644 index 312428a..0000000 --- a/lib/Sputtering.java +++ /dev/null @@ -1,121 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Sputtering Interface - Copyright (C) 2007 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -package br.ufrgs.ece.AIC; - -/** @addtogroup aicapp -@{ -*/ - -/** AIC Sputtering Real Time Interface -* @author Walter Fetter Lages (w.fetter@ieee.org) -* @version AIC-1.6.1 -*/ -public final class Sputtering -{ -/** True if native library was loaded -*/ - private static boolean libLoaded=false; - -/** Initializes Sputtering -*/ - private static native void initialize(); - -/** Finalizes Sputtering -*/ - public native void finalize(); - -/** Starts a real time PID controller -* @param period Desired sampling time in us -* @return Actual sampling time in us -*/ - public static native int pidStartRealtime(int period); - -/** Stops the real time PID controller -*/ - public static native void pidStopRealtime(); - -/** Sets PID reference -* @param reference PID set-point -*/ - public static native void setReference(float reference); - -/** Gets plant output -* @return Plant output in rad -*/ - public static native float getOutput(); - -/** Gets current time -* @return Current time in ticks -*/ - public static native int getTime(); - -/** Unlocks Sputtering usage -*/ - public static native void unlock(); - -/** Locks Sputtering usage -* @return 1 if locked -*/ - public static native byte lock(); - -/** Starts real time shutter controller -* @param period Desired sampling time in us -* @return Actual sampling time in us -*/ - public static native int shutterStartRealtime(int period); - -/** Stops the real time shutter controller -*/ - public static native void shutterStopRealtime(); - -/** Moves motor to home position -*/ - public static native void findHome(); - -/** Gets index sensor status -* @return Index sensor status -*/ - public static native int getIndex(); - -/** Opens shutter for specified time -* @param time Time to keep shutter open in us -*/ - public static native void openShutter(int time); - -/** Constructs a Sputtering objetct -*/ - public Sputtering() - { - if(!libLoaded) System.loadLibrary("sputtering.tlib"); - libLoaded=true; - - initialize(); - } -} - -/** -@} -*/ diff --git a/lib/aic.cpp b/lib/aic.cpp deleted file mode 100644 index fc93d89..0000000 --- a/lib/aic.cpp +++ /dev/null @@ -1,146 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Host Interface Library - Copyright (C) 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include -#include -#include -#include - -#include -#include - -AIC_MOTOR::AIC_MOTOR(AIC_COMM *comm) -{ - port=comm; -} - -void AIC_MOTOR::on(void) -{ - port->send_command(AIC_MOTOR_ON); -} - -void AIC_MOTOR::off(void) -{ - port->send_command(AIC_MOTOR_OFF); -} - -double AIC_MOTOR::operator=(double voltage) -{ - port->send_command(AIC_MOTOR_ACT,voltage); - - return voltage; -} - - -AIC_BRAKE::AIC_BRAKE(AIC_COMM *comm) -{ - port=comm; -} - -void AIC_BRAKE::apply(void) -{ - port->send_command(AIC_BRAKE_APPLY); -} - -void AIC_BRAKE::release(void) -{ - port->send_command(AIC_BRAKE_RELEASE); -} - -AIC_ENCODER::AIC_ENCODER(AIC_COMM *comm) -{ - port=comm; -} - -double AIC_ENCODER::read(int *index) -{ - double disp; - - port->get_status(AIC_STATUS,&disp,index); - - return disp; -} - -double AIC_ENCODER::read(void) -{ - int index; - - return read(&index); -} - -AIC_INDEX::AIC_INDEX(AIC_COMM *comm) -{ - port=comm; -} - -int AIC_INDEX::read(double *disp) -{ - int index; - - port->get_status(AIC_STATUS,disp,&index); - - return index; -} - -int AIC_INDEX::read(void) -{ - double disp; - - return read(&disp); -} - -AIC::AIC(AIC_COMM *comm): -motor(comm), -encoder(comm), -brake(comm), -index(comm) -{ - port=comm; -} - -void AIC::reset(void) -{ - port->send_command(AIC_RESET); -} - -void AIC::reference(double ref) -{ - port->send_command(AIC_MOTOR_REF,ref); -} - -int AIC::busy(void) -{ - unsigned int status; - double disp; - - port->get_status(AIC_STATUS,&disp,&status); - - return (status & AIC_BUSY)? 1:0; -} - -void AIC::send_command(int command,int n,const void *buffer) -{ - port->send_command(command,n,buffer); -} diff --git a/lib/aiccan.cpp b/lib/aiccan.cpp deleted file mode 100644 index ba1ada2..0000000 --- a/lib/aiccan.cpp +++ /dev/null @@ -1,184 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Host Interface Library - CAN Communication - Copyright (C) 2003, 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include -#include - -#include - -#include -#include - -const static int NCC=32; ///< Number of message buffers - -/// Buffer to store received CAN messages -static struct CAN_CENTER -{ - int cmd; ///< AIC command - unsigned char msg[8]; ///< Message - unsigned int msglen; ///< Message length -} cc[NCC]; - -AIC_CAN::AIC_CAN(int aic,int bus): -AIC(this) -{ - aicnumber=aic; - canHandle handle; - handle=canOpenChannel(bus,canWANT_EXTENDED); - canStatus status=(canStatus)handle; - if(status < 0) throw BAD_OPEN(); - - status=canSetBusParams(handle,BAUD_125K,13,7,1,1,0); - if(status < 0) throw BAD_PARMS(); - - status=canBusOn(handle); - if(status < 0) throw BAD_BUSON(); - - for(int i=0;i < NCC;i++) cc[i].cmd=0; -} - - -AIC_CAN::~AIC_CAN(void) -{ - canStatus status=canClose(handle); - if(status < 0) throw BAD_CLOSE(); -} - -int AIC_CAN::get_status(int status,...) -{ - long id; - unsigned char msg[8]; - unsigned int msglen; - unsigned int flag; - unsigned long time; - int cmd; - long aicid; - - do - { - if(cc[aicnumber-1].cmd) - { - cmd=cc[aicnumber-1].cmd; - cc[aicnumber-1].cmd=0; - id=aicnumber & (cmd << 5); - for(int i=0;i < 8; i++) msg[i]=cc[aicnumber-1].msg[i]; - msglen=cc[aicnumber-1].msglen; - break; - } - else - { - do - { - canStatus canstatus=canReadWait(handle,&id,msg,&msglen,&flag,&time,-1); - if(canstatus < 0) throw BAD_RECEIVE(); - } while(!(flag & canMSG_STD)); - cmd=(id & AIC_CMD_MASK) >> 5; - aicid=id & AIC_ID_MASK; - if(aicid != aicnumber) - { - // Message center with WriteOver - cc[aicid-1].cmd=cmd; - for(int i=0;i < 8; i++) cc[aicid-1].msg[i]=msg[i]; - cc[aicid-1].msglen=msglen; - } - } - } while( (aicid != aicnumber) || - !(id & AIC_ID_MASK) || - (cmd != status) ); - - switch(cmd) - { - case AIC_STATUS: - { - float disp; - for(int i=0;i < 4;i++) *(((unsigned char *)&disp)+i)=msg[3-i]; - - va_list ap; - va_start(ap,status); - double *dp=va_arg(ap,double *); - *dp=disp; - - int *index=va_arg(ap,int *); - for(int i=0;i < 4;i++) *(((unsigned char *)index)+i)=msg[7-i]; - - va_end(ap); - - break; - } - } - return cmd; -} - -void AIC_CAN::send_command(int command,...) -{ - unsigned char msg[8]; - unsigned int msglen=8; - - long id=aicnumber | (command << 5); - switch(command) - { - case AIC_MOTOR_ON: - case AIC_MOTOR_OFF: - case AIC_BRAKE_APPLY: - case AIC_BRAKE_RELEASE: - case AIC_RESET: - { - msglen=0; - break; - } - case AIC_MOTOR_ACT: - { - va_list ap; - va_start(ap,command); - double volt=va_arg(ap,double); - va_end(ap); - for(int i=0;i < 8;i++) msg[7-i]= *((char *) &volt + i); - msglen=8; - break; - } - case AIC_USER0: - case AIC_USER1: - case AIC_USER2: - case AIC_USER3: - { - va_list ap; - va_start(ap,command); - msglen=va_arg(ap,int); - unsigned char *ptr=msg; - if(msglen > 0) ptr=va_arg(ap,unsigned char *); - va_end(ap); - if(msglen > 8) throw BAD_SEND(); - for(unsigned int i=0;i < msglen;i++) msg[i]=ptr[i]; - break; - } - default: throw BAD_COMMAND(); - - } - - unsigned int flag=canMSG_STD; - canStatus status=canWriteWait(handle,id,msg,msglen,flag,-1); - if(status < 0) throw BAD_SEND(); -} diff --git a/lib/aichost.cpp b/lib/aichost.cpp deleted file mode 100644 index f9ba10d..0000000 --- a/lib/aichost.cpp +++ /dev/null @@ -1,54 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Host Interface Simulation - Copyright (C) 2003, 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include - -AIC_HOST::AIC_HOST(void) -{ - u=0; - ref=0; - status=0; -} - -AIC_HOST::~AIC_HOST(void) -{ - -} - - -int AIC_HOST::getstatus(void) const -{ - return status; -} - -double AIC_HOST::voltage(void) const -{ - return u; -} - -double AIC_HOST::reference(void) const -{ - return ref; -} diff --git a/lib/aichostcan.cpp b/lib/aichostcan.cpp deleted file mode 100644 index f356d4a..0000000 --- a/lib/aichostcan.cpp +++ /dev/null @@ -1,155 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Host Interface Simulation - CAN Communication - Copyright (C) 2003, 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include - -const static int NCC=32; ///< Number of message buffers - -/// Buffer to store received CAN messages -static struct CAN_CENTER -{ - int cmd; ///< AIC command - unsigned char msg[8]; ///< Message - unsigned int msglen; ///< Message length -} cc[NCC]; - -AIC_HOST_CAN::AIC_HOST_CAN(int aic,int bus): -AIC_HOST() -{ - aicnumber=aic; - canHandle handle; - handle=canOpenChannel(bus,canWANT_EXTENDED); - canStatus status=(canStatus)handle; - if(status < 0) throw BAD_OPEN(); - - status=canSetBusParams(handle,BAUD_125K,13,7,1,1,0); - if(status < 0) throw BAD_PARMS(); - - status=canBusOn(handle); - if(status < 0) throw BAD_BUSON(); - - for(int i=0;i < NCC;i++) cc[i].cmd=0; -} - - -AIC_HOST_CAN::~AIC_HOST_CAN(void) -{ - canStatus status=canClose(handle); - if(status < 0) throw BAD_CLOSE(); -} - -int AIC_HOST_CAN::command(void) -{ - long id; - unsigned char msg[8]; - unsigned int msglen; - unsigned int flag; - unsigned long time; - int cmd; - long aicid; - - do - { - if(cc[aicnumber-1].cmd) - { - cmd=cc[aicnumber-1].cmd; - cc[aicnumber-1].cmd=0; - id=aicnumber & (cmd << 5); - for(int i=0;i < 8; i++) msg[i]=cc[aicnumber-1].msg[i]; - msglen=cc[aicnumber-1].msglen; - break; - } - else - { - do - { - canStatus status=canReadWait(handle,&id,msg,&msglen,&flag,&time,-1); - if(status < 0) throw BAD_RECEIVE(); - } while(!(flag & canMSG_STD)); - cmd=id >> 5; - aicid=id & AIC_ID_MASK; - if(aicid != aicnumber) - { - // Message center with WriteOver - cc[aicid-1].cmd=cmd; - for(int i=0;i < 8; i++) cc[aicid-1].msg[i]=msg[i]; - cc[aicid-1].msglen=msglen; - } - } - } while(aicid != aicnumber); - - switch(cmd) - { - case AIC_MOTOR_ON: - { - status|=MOTOR_ON; - break; - } - case AIC_MOTOR_OFF: - { - status &= ~MOTOR_ON; - break; - } - case AIC_MOTOR_ACT: - { - unsigned char *c=(unsigned char *) &u; - for(int i=0;i < 8;i++) c[i]=msg[7-i]; - break; - } - case AIC_BRAKE_APPLY: - { - status|=BRAKE_APPLIED; - break; - } - case AIC_BRAKE_RELEASE: - { - status &= ~BRAKE_APPLIED; - break; - } - case AIC_RESET: - { - break; - } - } - - return cmd; -} - -void AIC_HOST_CAN::send_status(double disp,int index) -{ - unsigned char msg[8]; - float dispf=disp; - for(int i=0;i < 4;i++) msg[3-i]= *(((unsigned char *) &dispf)+i); - for(int i=0;i < 4;i++) msg[4+3-i]= *(((unsigned char *) &index)+i); - - long id=aicnumber | (AIC_STATUS << 5); - unsigned int flag=canMSG_STD; - unsigned int msglen=sizeof(msg); - canStatus status=canWriteWait(handle,id,msg,msglen,flag,-1); - if(status < 0) throw BAD_SEND(); -} - - diff --git a/lib/aichostudp.cpp b/lib/aichostudp.cpp deleted file mode 100644 index 7a402b7..0000000 --- a/lib/aichostudp.cpp +++ /dev/null @@ -1,171 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Host Interface Simulation - UDP Communication - Copyright (C) 2003, 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include -#include -#include -using namespace std; -#include -#include -#include -#include -#include - -#include - -AIC_HOST_UDP::AIC_HOST_UDP(const char *controllername,int statusport,int cmdport): -AIC_HOST() -{ - struct hostent *controllerend=gethostbyname(controllername); - - struct in_addr *ptr=(struct in_addr *)controllerend->h_addr; - if(ptr==NULL) - { -#ifdef DEBUG - cerr << "AIC_HOST::AIC_HOST error: " - << strerror(errno) << "\n"; -#endif - throw BAD_SOCKET(); - } - - bzero(&statusaddr,sizeof(statusaddr)); - statusaddr.sin_family=AF_INET; - statusaddr.sin_port=htons(statusport); - memcpy(&statusaddr.sin_addr,ptr,sizeof(struct in_addr)); - - if((statusfd=socket(AF_INET,SOCK_DGRAM,0)) < 0) - { -#ifdef DEBUG - cerr << "AIC_HOST::AIC_HOST error: " - << strerror(errno) << "\n"; -#endif - throw BAD_SOCKET(); - } - - bzero(&cmdaddr,sizeof(cmdaddr)); - cmdaddr.sin_family=AF_INET; - cmdaddr.sin_addr.s_addr=htonl(INADDR_ANY); - cmdaddr.sin_port=htons(cmdport); - - if((cmdfd=socket(AF_INET,SOCK_DGRAM,0)) < 0) - { -#ifdef DEBUG - cerr << "AIC_HOST::AIC_HOST error: " - << strerror(errno) << "\n"; -#endif - throw BAD_SOCKET(); - } - if((bind(cmdfd,(struct sockaddr *) &cmdaddr,sizeof(cmdaddr))) < 0) - { -#ifdef DEBUG - cerr << "AIC_HOST::AIC_HOST error: " - << strerror(errno) << "\n"; -#endif - throw BAD_BIND(); - } -} - - -AIC_HOST_UDP::~AIC_HOST_UDP(void) -{ - shutdown(statusfd,SHUT_RDWR); - shutdown(cmdfd,SHUT_RDWR); -} - -int AIC_HOST_UDP::command(void) -{ - char buff[32]; - int count; - - socklen_t cmdlen=sizeof(cmdaddr); - - if((count=recvfrom(cmdfd,buff,32,0,(struct sockaddr *) &cmdaddr,&cmdlen)) <= 0) - { -#ifdef DEBUG - cerr << "AIC_HOST::command error: " - << strerror(errno) << "\n"; -#endif - throw BAD_RECEIVE(); - } - - int cmd=*buff; - - switch(cmd) - { - case AIC_MOTOR_ON: - { - status|=MOTOR_ON; - break; - } - case AIC_MOTOR_OFF: - { - status &= ~MOTOR_ON; - break; - } - case AIC_MOTOR_ACT: - { - unsigned char *c=(unsigned char *) &u; - for(int i=0;i < 8;i++) c[i]=buff[7-i+1]; - break; - } - case AIC_BRAKE_APPLY: - { - status|=BRAKE_APPLIED; - break; - } - case AIC_BRAKE_RELEASE: - { - status &= ~BRAKE_APPLIED; - break; - } - case AIC_RESET: - { - break; - } - } - - return cmd; -} - -void AIC_HOST_UDP::send_status(double disp,int index) -{ - char buff[32]; - - buff[0]=AIC_STATUS; - - for(int i=0;i < 8;i++) buff[7-i+1]= *(((unsigned char *) &disp)+i); - for(int i=0;i < 4;i++) buff[8+3-i+1]= *(((unsigned char *) &index)+i); - - int count=0; - if((count=sendto(statusfd,buff,13,0,(struct sockaddr *) &statusaddr,sizeof(statusaddr))) < 0) - { -#ifdef DEBUG - cerr << "AIC_HOST::send_status error: " - << strerror(errno) << "\n"; -#endif - throw BAD_SEND(); - } -} diff --git a/lib/aicio/Makefile b/lib/aicio/Makefile deleted file mode 100644 index 0746849..0000000 --- a/lib/aicio/Makefile +++ /dev/null @@ -1,41 +0,0 @@ -ASMINC:=../${ASMINC} -TINIINC=${ASMINC}/tini.inc ${ASMINC}/tinimacro.inc ${ASMINC}/ds80c390.inc ${ASMINC}/apiequ.inc - -all: aicio.mpp.lib - -${ASMINC}/tini.inc: ${NATINC}/tini.inc - ln -s ${NATINC}/tini.inc ${ASMINC}/tini.inc - -${ASMINC}/tinimacro.inc: ${NATINC}/tinimacro.inc - ln -s ${NATINC}/tinimacro.inc ${ASMINC}/tinimacro.inc - -${ASMINC}/ds80c390.inc: ${NATINC}/ds80c390.inc - ln -s ${NATINC}/ds80c390.inc ${ASMINC}/ds80c390.inc - -${ASMINC}/apiequ.inc: ${NATINC}/apiequ.inc - ln -s ${NATINC}/apiequ.inc ${ASMINC}/apiequ.inc - -brake.mpp: brake.a51 ${TINIINC} ${ASMINC}/aicpld.inc - ${ASMMACRO} -I${ASMINC} -e- brake.a51 - -index.mpp: index.a51 ${TINIINC} ${ASMINC}/aicpld.inc - ${ASMMACRO} -I${ASMINC} -e- index.a51 - -encoder.mpp: encoder.a51 ${TINIINC} ${ASMINC}/aicpld.inc - ${ASMMACRO} -I${ASMINC} -e- encoder.a51 - -pwm.mpp: pwm.a51 ${TINIINC} ${ASMINC}/aicpld.inc - ${ASMMACRO} -I${ASMINC} -e- pwm.a51 - -aicio.mpp.lib: brake.mpp index.mpp pwm.mpp encoder.mpp - cat brake.mpp index.mpp pwm.mpp encoder.mpp > aicio.mpp.lib - -install: - -clean: - rm -rf *.o *~ *.bak *.class ../include/{*.bak,*~} br *.tlib *.mpp ${TINIINC} *.lst - -distclean: clean - rm -rf aicio.mpp.lib - -uninstall: diff --git a/lib/aicio/aic.c b/lib/aicio/aic.c deleted file mode 100644 index 411fb92..0000000 --- a/lib/aicio/aic.c +++ /dev/null @@ -1,57 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Real Time Interface - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include - -#define _AIC_C -#include - -void aic_on(void) -{ - motor_on(); - encoder_clear(); -} - -void aic_off(void) -{ - motor_set(0.0); - brake_apply(); - motor_off(); - encoder_clear(); -} - -void aic_initialize(unsigned long base,float vm,float freq,long np) -{ - motor_initialize(base,vm,freq); - encoder_initialize(base,np); - brake_initialize(base); - index_initialize(base); -} - -void aic_finalize(void) -{ - aic_off(); -} - diff --git a/lib/aicio/brake.a51 b/lib/aicio/brake.a51 deleted file mode 100644 index 3f77038..0000000 --- a/lib/aicio/brake.a51 +++ /dev/null @@ -1,88 +0,0 @@ -;****************************************************************************** -; -; Actuator Interface Card -; Brake Functions -; Copyright (C) 2005 Walter Fetter Lages -; -; This program is free software; you can redistribute it and/or modify -; it under the terms of the GNU General Public License as published by -; the Free Software Foundation; either version 2 of the License, or -; (at your option) any later version. -; -; This program is distributed in the hope that it will be useful, -; but WITHOUT ANY WARRANTY; without even the implied warranty of -; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -; GNU General Public License for more details. -; -; You should have received a copy of the GNU General Public License -; along with this program; if not, write to the Free Software -; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. -; -; You can also obtain a copy of the GNU General Public License -; at . -; -;******************************************************************************* - -$include(tini.inc) -$include(ds80c390.inc) -$include(tinimacro.inc) - -$include(aicpld.inc) -$include(aicmacro.inc) - -; data saved in big-endian mode -; Brake base address -brake_base: db 0,0,0 - -; Initializes Brake -; void brake_initialize(unsigned long base); -brake_initialize: - mov r0,dpl ; parameter in b:dpx:dph:dpl - mov r1,dph ; BUG IN SDCC MANUAL! - mov r2,dpx - mov r3,b - - mov dptr,#CONTROL ; compute brake address - lcall Add_Dptr1_24 ; dptr=dptr+R2:R1:R0 - - STORE24 #brake_base ; store brake address - - clr a ; success - ret - -; Applies the electromagnetic brakes -; void brake_apply(void) -brake_apply: - LOAD24 #brake_base ; get brake address - - SET_STRETCH STRETCH - - ENTER_PCE_SPACE_AND_PUSH_STATE #0 - mov a,#BRAKEAPPLY ; apply brake - movx @dptr,a - EXIT_PCE_SPACE_AND_POP_STATE - - - RESTORE_STRETCH r0 - - clr a ; success - ret - -; Releases the electromagnetic brake -; void brake_release(void) -brake_release: - LOAD24 #brake_base ; get brake address - - SET_STRETCH STRETCH - - ENTER_PCE_SPACE_AND_PUSH_STATE #0 - mov a,#BRAKERELEASE ; release brake - movx @dptr,a - EXIT_PCE_SPACE_AND_POP_STATE - - RESTORE_STRETCH r0 - - clr a ; success - ret - - end diff --git a/lib/aicio/encoder.a51 b/lib/aicio/encoder.a51 deleted file mode 100644 index a2b22d4..0000000 --- a/lib/aicio/encoder.a51 +++ /dev/null @@ -1,203 +0,0 @@ -;****************************************************************************** -; -; Actuator Interface Card -; Encoder Functions -; Copyright (C) 2004, 2005 Walter Fetter Lages -; -; This program is free software; you can redistribute it and/or modify -; it under the terms of the GNU General Public License as published by -; the Free Software Foundation; either version 2 of the License, or -; (at your option) any later version. -; -; This program is distributed in the hope that it will be useful, -; but WITHOUT ANY WARRANTY; without even the implied warranty of -; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -; GNU General Public License for more details. -; -; You should have received a copy of the GNU General Public License -; along with this program; if not, write to the Free Software -; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. -; -; You can also obtain a copy of the GNU General Public License -; at . -; -;******************************************************************************* - -$include(tini.inc) -$include(ds80c390.inc) -$include(tinimacro.inc) - -$include(aicpld.inc) -$include(aicmacro.inc) - -_bpx EQU 01Eh ; _bpx (frame pointer) mapped to R8_B3:R7_B3 -_ap EQU 01Dh ; _ap mapped to R6_B3 - -; data saved in big-endian mode -; Encoder base address -encoder_base: db 0,0,0 -encoder_pulses: db 0,0,0,0 -encoder_rad: db 0,0,0,0 -encoder_radok: db 0,0,0,0 - -; Initializes Encoder -; void encoder_initialize(unsigned long base,long pulses); -encoder_initialize: - push _bpx ; SDCC style preface code - push _bpx+1 - mov _bpx,sp - mov _bpx+1,esp - anl _bpx+1,#3 - - mov r0,dpl ; parameter in b:dpx:dph:dpl - mov r1,dph ; BUG IN SDCC MANUAL! - mov r2,dpx - mov r3,b - - mov dptr,#ENCODER ; compute encoder address - lcall Add_Dptr1_24 ; dptr=dptr+R2:R1:R0 - - STORE24 #encoder_base ; store encoder address - - SET_STRETCH STRETCH - - ENTER_PCE_SPACE_AND_PUSH_STATE #0 - clr a ; clear encoder - movx @dptr,a - EXIT_PCE_SPACE_AND_POP_STATE - - RESTORE_STRETCH r0 - - mov a,_bpx - clr c - subb a,#8 ; second parameter is base pointer-6 - mov b,a ; point dpx:dptr to it - mov a,_bpx+1 - subb a,#0 - mov dpx,#40h - mov dph,a - mov dpl,b - - mov dps,#21h ; store in encoder_pulses - mov dptr,#encoder_pulses - movx a,@dptr - movx @dptr,a - inc dptr - inc dptr - movx a,@dptr - movx @dptr,a - mov dps,#0 - - mov sp,_bpx ; SDCC style epilogue code - mov esp,_bpx+1 - pop _bpx+1 - pop _bpx - - clr a ; sucess - ret - -; Finalizes Encoder -; void encoder_finalize(void) -encoder_finalize: - - ; fall-through to encoder_clear: - -; Clears the counter on the quadrature decoder chip -; void clear(void) -encoder_clear: - LOAD24 #encoder_base ; get encoder address - - SET_STRETCH STRETCH - - ENTER_PCE_SPACE_AND_PUSH_STATE #0 - clr a - movx @dptr,a ; clear counter - EXIT_PCE_SPACE_AND_POP_STATE - - RESTORE_STRETCH r0 - - clr a ; success - ret - -; Gets the count on the quadrature decoder chip -; return the number of pulses (in 2-complement) since the last time -; the counter was cleared -; long encoder_get_count(void) -encoder_get_count: - LOAD24 #encoder_base ; get encoder address - - SET_STRETCH STRETCH - - ENTER_PCE_SPACE_AND_PUSH_STATE #0 - movx a,@dptr ; get count high byte - mov r1,a ; form count value in R3:R2:R1:R0 - - rlc a ; sign extension to 32 bits - clr a ; r1 > 0 extend with 0s - jnc encoder_posextend - cpl a ; r1 < 0 extend with 1s -encoder_posextend: - mov r2,a ; form count value in R3:R2:R1:R0 - mov r3,a - - inc dptr - movx a,@dptr ; get count low byte - EXIT_PCE_SPACE_AND_POP_STATE - - RESTORE_STRETCH r0 - - mov r0,a ; form count value in R3:R2:R1:R0 - - mov dpl,a ; return count in b:dpx:dph:dpl - mov dph,r1 - - clr a ; sucess - - mov dpx,r2 - mov b,r3 - - ret - - -; Gets the count and clearsthe counter on the quadrature decoder chip -; return the number of pulses (in 2-complement) since the last time -; the counter was cleared -; long encoder_get_count_and_clear() -encoder_get_count_and_clear: - LOAD24 #encoder_base ; get encoder address - - SET_STRETCH STRETCH - - ENTER_PCE_SPACE_AND_PUSH_STATE #0 - movx a,@dptr ; get count high byte - mov r1,a ; form count value in R3:R2:R1:R0 - - rlc a ; sign extension to 32 bits - clr a ; r1 > 0 extend with 0s - jnc encoder_posextend1 - cpl a ; r1 < 0 extend with 1s -encoder_posextend1: - mov r2,a ; form count value in R3:R2:R1:R0 - mov r3,a - - inc dptr - movx a,@dptr ; get count low byte - movx @dptr,a ; clear counter - EXIT_PCE_SPACE_AND_POP_STATE - - RESTORE_STRETCH r0 - - mov r0,a ; form count value in R3:R2:R1:R0 - - mov dpl,a ; return count in b:dpx:dph:dpl - mov dph,r1 - - clr a ; sucess - - mov dpx,r2 - mov b,r3 - - ret - - end - diff --git a/lib/aicio/encoder.c b/lib/aicio/encoder.c deleted file mode 100644 index 31d55a0..0000000 --- a/lib/aicio/encoder.c +++ /dev/null @@ -1,52 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Encoder Real Time Interface - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include - -#define _ENCODER_C -#include - -extern long encoder_pulses; -extern float encoder_rad; -extern int encoder_radok; - -static void encoder_setrad(void) -{ - encoder_rad=2*M_PI/encoder_pulses; - encoder_radok=1; -} - -float encoder_read(void) -{ - if(!encoder_radok) encoder_setrad(); - return (encoder_rad*encoder_get_count()); -} - -float encoder_read_and_clear(void) -{ - - if(!encoder_radok) encoder_setrad(); - return (encoder_rad*encoder_get_count_and_clear()); -} diff --git a/lib/aicio/index.a51 b/lib/aicio/index.a51 deleted file mode 100644 index bff12f8..0000000 --- a/lib/aicio/index.a51 +++ /dev/null @@ -1,77 +0,0 @@ -;****************************************************************************** -; -; Actuator Interface Card -; Index Function -; Copyright (C) 2005 Walter Fetter Lages -; -; This program is free software; you can redistribute it and/or modify -; it under the terms of the GNU General Public License as published by -; the Free Software Foundation; either version 2 of the License, or -; (at your option) any later version. -; -; This program is distributed in the hope that it will be useful, -; but WITHOUT ANY WARRANTY; without even the implied warranty of -; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -; GNU General Public License for more details. -; -; You should have received a copy of the GNU General Public License -; along with this program; if not, write to the Free Software -; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. -; -; You can also obtain a copy of the GNU General Public License -; at . -; -;******************************************************************************* - -$include(tini.inc) -$include(ds80c390.inc) -$include(tinimacro.inc) - -$include(aicpld.inc) -$include(aicmacro.inc) - -; data saved in big-endian mode -; Index base address -index_base: db 0,0,0 - -; Initializes Index -; void index_initialize(unsigned long base); -index_initialize: - mov r0,dpl ; parameter in b:dpx:dph:dpl - mov r1,dph ; BUG IN SDCC MANUAL! - mov r2,dpx - mov r3,b - - mov dptr,#CONTROL ; compute index address - lcall Add_Dptr1_24 ; dptr=dptr+R2:R1:R0 - - STORE24 #index_base ; store index address - - clr a ; success - ret - -; Reads the sync-switch -; returns the sync-switch state -; unsigned long index_read(void) -index_read: - LOAD24 #index_base ; get index address - - SET_STRETCH STRETCH - - ENTER_PCE_SPACE_AND_PUSH_STATE #0 - movx a,@dptr ; read index - EXIT_PCE_SPACE_AND_POP_STATE - - RESTORE_STRETCH r0 - - anl a,#01h - mov dpl,a ; return value in b:dpx:dph:dpl - clr a ; BUG IN SDCC MANUAL! - mov dph,a - mov dpx,a - mov b,a - - ret - - end - diff --git a/lib/aicio/motor.a51 b/lib/aicio/motor.a51 deleted file mode 100644 index 29e3830..0000000 --- a/lib/aicio/motor.a51 +++ /dev/null @@ -1,29 +0,0 @@ -;****************************************************************************** -; -; Actuator Interface Card -; Motor Real Time Interface -; Global Variables -; Copyright (C) 2005 Walter Fetter Lages -; -; This program is free software; you can redistribute it and/or modify -; it under the terms of the GNU General Public License as published by -; the Free Software Foundation; either version 2 of the License, or -; (at your option) any later version. -; -; This program is distributed in the hope that it will be useful, -; but WITHOUT ANY WARRANTY; without even the implied warranty of -; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -; GNU General Public License for more details. -; -; You should have received a copy of the GNU General Public License -; along with this program; if not, write to the Free Software -; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. -; -; You can also obtain a copy of the GNU General Public License -; at . -; -;*******************************************************************************/ - - -motor_volt2duty: db 0,0,0,0 - end diff --git a/lib/aicio/motor.c b/lib/aicio/motor.c deleted file mode 100644 index f92cd10..0000000 --- a/lib/aicio/motor.c +++ /dev/null @@ -1,73 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Motor Real Time Interface - Copyright (C) 2005 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include - -#define _MOTOR_C -#include - -volatile float motor_volt2duty; - -void motor_globals(void) _naked -{ - _asm -motor_volt2duty: db 0,0,0,0 - _endasm; -} - -void motor_initialize(unsigned long baseadd,float voltage,float freq) -{ - unsigned int count; - - motor_volt2duty=0.5/voltage; - count=((unsigned int) (REF_FREQ/freq)) & 0xffff; - pwm_initialize(baseadd,MIN_COUNT,count); - pwm_off(); -} - -void motor_finalize(void) -{ - pwm_off(); -} - -void motor_on(void) -{ - pwm_on(); -} - -void motor_off(void) -{ - pwm_off(); -} - -float motor_set(float voltage) -{ - unsigned long dutycycle; - - dutycycle=(((long)(voltage*motor_volt2duty*1000000.0))+500000); - pwm_set_duty(dutycycle); - return dutycycle; -} - diff --git a/lib/aicio/pwm.a51 b/lib/aicio/pwm.a51 deleted file mode 100644 index 3e0d196..0000000 --- a/lib/aicio/pwm.a51 +++ /dev/null @@ -1,573 +0,0 @@ -;****************************************************************************** -; -; Actuator Interface Card -; PWM Functions -; Copyright (C) 2004, 2007 Walter Fetter Lages -; 2007 Diego Caberlon Santini -; -; This program is free software; you can redistribute it and/or modify -; it under the terms of the GNU General Public License as published by -; the Free Software Foundation; either version 2 of the License, or -; (at your option) any later version. -; -; This program is distributed in the hope that it will be useful, -; but WITHOUT ANY WARRANTY; without even the implied warranty of -; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -; GNU General Public License for more details. -; -; You should have received a copy of the GNU General Public License -; along with this program; if not, write to the Free Software -; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. -; -; You can also obtain a copy of the GNU General Public License -; at . -; -;******************************************************************************* - -$include(tini.inc) -$include(ds80c390.inc) -$include(tinimacro.inc) - -$include(i8254.inc) -$include(aicpld.inc) -$include(aicmacro.inc) - -_bpx EQU 01Eh ; _bpx (frame pointer) mapped to R8_B3:R7_B3 -_ap EQU 01Dh ; _ap mapped to R6_B3 - -; data saved in big-endian mode -; PWM base address -pwm_base: db 0,0,0 - -; PWM frequency in cycles of 10MHz -pwm_max_count: db 0,0 - -; minimal value to load in PWM -pwm_min_count: db 0,0 - -; Control Register base address -pwm_ctrl_base: db 0,0,0 - -; Sets the frequency of PWM in cycles of 10MHz -; void pwm_set_count(unsigned int count) -pwm_set_count: - mov r0,dpl ; parameter in dph:dpl - mov r1,dph ; BUG IN SDCC MANUAL! - - LOAD24 #pwm_base ; get PWM address - - mov a,#CTRL_8254 ; compute control register address - ADD_DPTR_0_A - - mov b,r0 ; save parameter LSB - - SET_STRETCH STRETCH - - ENTER_PCE_SPACE_AND_PUSH_STATE #0 - mov a,#RATE_BIN_8254 ; set timer 0 mode - movx @dptr,a - - mov a,#ONE_SHOT_BIN_8254 ; set timer 1 mode - orl a,#40h ; select timer 1 - movx @dptr,a - -; program timer 0 with count - - mov a,DPS ; point dptr to timer 0 - orl DPS,#0c0h ; avoids extern memory access - inc dptr ; actualy decrement - inc dptr ; due to DPS value - inc dptr - mov DPS,a - - mov a,b ; program timer 0 lsB - movx @dptr,a - mov r2,a ; save count lsB - - mov a,r1 ; program timer 0 msB - movx @dptr,a - - EXIT_PCE_SPACE_AND_POP_STATE - - inc DPS ; save count - mov dptr,#pwm_max_count - movx @dptr,a ; store count msB - inc dptr - mov a,r2 ; store count lsB - movx @dptr,a - inc DPS - -; program timer 1 with count/2 - -pwm_duty50: inc dptr ; point dptr to timer 1 - - mov a,r1 ; compute count/2 - clr c - rrc a - mov r1,a - mov a,b - rrc a - - ENTER_PCE_SPACE_AND_PUSH_STATE #0 - movx @dptr,a ; program timer 1 lsB - mov a,r1 ; program timer 1 msB - movx @dptr,a - EXIT_PCE_SPACE_AND_POP_STATE - - RESTORE_STRETCH r0 - - clr a ; success - ret - -; Initializes PWM -; void pwm_initialize(unsigned long base,unsigned int min_count,unsigned int count); -pwm_initialize: - push _bpx ; SDCC style preface code - push _bpx+1 - mov _bpx,sp - mov _bpx+1,esp - anl _bpx+1,#3 - - - mov r0,dpl ; parameter in b:dpx:dph:dpl - mov r1,dph ; BUG IN SDCC MANUAL! - mov r2,dpx - mov r3,b - - push R0_B0 - push R1_B0 - push R2_B0 - - mov dptr,#CONTROL ; compute Control address - lcall Add_Dptr1_24 ; dptr=dptr+R2:R1:R0 - - STORE24 #pwm_ctrl_base ; store Control register address - - pop R2_B0 - pop R1_B0 - pop R0_B0 - - mov dptr,#PWM ; compute PWM address - lcall Add_Dptr1_24 ; dptr=dptr+R2:R1:R0 - - STORE24 #pwm_base ; store PWM address - - mov a,_bpx - clr c - subb a,#06 ; second parameter is base pointer-6 - mov b,a ; point dpx:dptr to it - mov a,_bpx+1 - subb a,#0 - mov dpx,#40h - mov dph,a - mov dpl,b - - movx a,@dptr ; min_count LSB - mov b,a - inc dptr - movx a,@dptr ; min_count MSB - - mov dptr,#pwm_min_count ; stores it - movx @dptr,a - inc dptr - mov a,b - movx @dptr,a - - mov a,_bpx - clr c - subb a,#8 ; third parameter is base pointer-8 - mov b,a ; point dpx:dptr to it - mov a,_bpx+1 - subb a,#0 - mov dpx,#040h - mov dph,a - mov dpl,b - - movx a,@dptr ; store in dph:dpl - inc dptr - mov b,a - movx a,@dptr - mov dph,a - mov dpl,b - - mov sp,_bpx ; SDCC style epilogue code - mov esp,_bpx+1 - pop _bpx+1 - pop _bpx - ; to fall over max count should be in dph:dpl - ljmp pwm_set_count ; fall over to native_setCount - - -; Finalizes PWM -; void finalize(void) -pwm_finalize: - LOAD24 #pwm_base ; get pwm address - - inc DPS ; get count msB - mov dptr,#pwm_max_count - movx a,@dptr - mov r1,a - inc dptr ; get count lsB - movx a,@dptr - mov b,a - inc DPS - - SET_STRETCH STRETCH - - ljmp pwm_duty50 ; fall over to native pwm_set_count - - -; Sets the duty-cycle of PWM -; unsigned long pwm_set_duty(unsigned long dutycycle) -pwm_set_duty: - mov r0,dpl ; parameter in b:dpx:dph:dpl - mov r1,dph ; BUG IN SDCC MANUAL! - mov r2,dpx - mov r3,b - - mov a,r3 ; ensures R3:R2:R1:R0 >= 0 - jnb ACC.7,pwm_parmpos - - clr a ; forces R3:R2:R1:R0=0 - mov r3,a - mov r2,a - mov r1,a - mov r0,a - ljmp pwm_parmok - -pwm_parmpos: cjne r3,#00,pwm_parmabove ; ensures R3:R2:R1:R0 <= 1000000 - clr c - mov a,r0 ; 1000000=0f4240h - subb a,#40h - mov a,r1 - subb a,#42h - mov a,r2 - subb a,#0fh - jc pwm_parmok - -pwm_parmabove: mov r3,#00h ; forces R3:R2:R1:R0=1000000 - mov r2,#0fh - mov r1,#42h - mov r0,#40h - -pwm_parmok: - - mov a,r0 ;R3:R2:R1:R0 >>4 - rr a ;R0 >> 4 - rr a - rr a - rr a - anl a,#00Fh ;discard upper 4 bits - mov r0,a - mov a,r1 ;R1 >>4 - rr a - rr a - rr a - rr a - mov r1,a ;save R1 >> 4 - anl a,#0F0h ;discard lower 4 bits - orl a,r0 ;sets 4 uppers bits in R0 - mov r0,a - mov a,r1 ;gets R1 >> 4 - anl a,#00Fh ;discard upper 4 bits - mov r1,a - mov a,r2 ;R2 >> 4 - rr a - rr a - rr a - rr a - anl a,#0F0h ;discard lower 4 bits - orl a,r1 - mov r1,a - - ;R1:R0*max_count - mov dptr, #pwm_max_count ;load max_count in R5:R4 - movx a,@dptr - mov r5,a - inc dptr - movx a,@dptr - mov r4,a - - mov b,a ;R0*R4 - mov a,r0 - mul ab - - mov dpl,a ;LOW - mov a,b ;HIGH - mov dph,a - - mov a,r1 ;R1*R4 - mov b,a - mov a,r4 - mul ab - - add a,dph ;LOW - mov dph,a - mov a,b ;HIGH - addc a,#00 ;R4 is free - mov dpx,a - - mov a,r0 ;R0*R5 - mov b,a - mov a,r5 - mul ab - - add a,dph ;LOW - mov dph,a - mov a,dpx ;LOW+1 - addc a,b - mov dpx,a - clr a ;HIGH - addc a,#00h - mov r4,a ;R0 is free - - mov a,r1 ;R1*R5 - mov b,a - mov a,r5 - mul ab - - add a,dpx ;LOW - mov dpx,a - mov a,r4 ;HIGH - addc a,b - mov b,a ;discard upper bits - - mov r0,dpl - mov r1,dph - mov r2,dpx - mov r3,b - - ;R3:R2:R1:R0/(1000000/16) 1000000/16=F424h - ;c -> dpx - ;x -> r3:r2:r1:r0 - ;y -> dph:dpl = 0xF424 - ;reste -> r7:r6:r5:r4 - ;count -> pilha 1 - - - mov a,r7 - push acc - mov a,r6 - push acc - clr a ;c=0 - mov dpx,a - mov dph,#0F4h ;y=0xF424 - mov dpl,#024h - mov r7,#000h ;reste=0 - mov r6,#000h - mov r5,#000h - mov r4,#000h - mov a,#20h ;count=32 - push acc - -pwm_divloop: - mov a,r3 ;c = ((x >> (8*sizeof(x)-1)) & 1) - rl a - anl a,#1 - mov dpx,a - - clr c ;x = x << 1; - mov a,r0 - rlc a - mov r0,a - mov a,r1 - rlc a - mov r1,a - mov a,r2 - rlc a - mov r2,a - mov a,r3 - rlc a - mov r3,a - clr c - - ;reste <<= 1 - mov a,r4 - rlc a - mov r4,a - mov a,r5 - rlc a - mov r5,a - mov a,r6 - rlc a - mov r6,a - mov a,r7 - rlc a - mov r7,a - clr c - - - mov a,dpx ;if (c) - jz pwn_div_ninc_teste - mov a,r4 - orl a,#001h ;reste|=1L - mov r4,a - -pwn_div_ninc_teste: ;if (reste >= y) - mov a,r7 - jnz pwm_div_y_menor_igual - mov a,r6 - jnz pwm_div_y_menor_igual - mov a,r5 - cjne a,dph,pwm_div_testa_maior - mov a,r4 - cjne a,dpl,pwm_div_testa_maior - clr c - -pwm_div_testa_maior: - jnc pwm_div_y_menor_igual - ljmp pwm_div_loop_end - -pwm_div_y_menor_igual: - mov a,r4 ;reste -= y; - clr c - subb a,dpl - mov r4,a - mov a,r5 - subb a,dph - mov r5,a - mov a,r6 - subb a,#00h - mov r6,a - mov a,r7 - subb a,#00h - mov r7,a - - mov a,r0 ;x |= 1L; - orl a,#001h - mov r0,a - -pwm_div_loop_end: ;while (--count) - pop acc - dec a - push acc - jnz pwm_divloop - - pop acc - pop acc - mov r6,a - pop acc - mov r7,a - - mov dptr, #pwm_max_count ;load max_count in R5:R4 - movx a,@dptr - mov r5,a - inc dptr - movx a,@dptr - mov r4,a - - clr c ; computes count - - mov a,r4 - subb a,r0 - mov r0,a - mov a,r5 - - subb a,r1 - mov r1,a - - mov dptr,#pwm_min_count ; check if count < min_count - movx a,@dptr - mov r3,a - inc dptr - movx a,@dptr - mov r2,a - - clr c - mov a,r0 - subb a,r2 - mov a,r1 - subb a,r3 - jnc pwm_countabove - mov r0,R2_B0 - mov r1,R3_B0 - ljmp pwm_countok - - -pwm_countabove: clr c ; check if count > max_count-min_count - - mov a,r4 ; computes max_count - min_count - mov a,r4 - subb a,r2 - mov r2,a - mov a,r5 - subb a,r3 - mov r3,a - - clr c - mov a,r0 - subb a,r2 - mov a,r1 - subb a,r3 - jc pwm_countok - mov r0,R2_B0 - mov r1,R3_B0 - -pwm_countok: - - LOAD24 #pwm_base ; get PWM address - - mov a,#TIMER1_8254 ; compute timer 1 address - ADD_DPTR_0_A - - mov b,r0 ; save count LSB - - SET_STRETCH STRETCH - - ENTER_PCE_SPACE_AND_PUSH_STATE #0 - mov a,b - movx @dptr,a ; program timer 1 lsB - mov a,r1 ; program timer 1 msB - movx @dptr,a - EXIT_PCE_SPACE_AND_POP_STATE - - RESTORE_STRETCH r0 ; restore original stretch value - - mov dpl,b ; return count in b:dbx:dph:dpl - mov dph,r1 - - clr a - - mov dpx,a - mov b,a - - ret - - - -; Turns the PWM on -; void pwm_on(void) -pwm_on: - LOAD24 #pwm_ctrl_base ; get control register address - - SET_STRETCH STRETCH - - ENTER_PCE_SPACE_AND_PUSH_STATE #0 - mov a,#PWMENABLE ; enable PWM - movx @dptr,a - EXIT_PCE_SPACE_AND_POP_STATE - - RESTORE_STRETCH r0 - - clr a ; success - ret - -; Turns the PWM off -; void pwm_off(void) -pwm_off: - LOAD24 #pwm_ctrl_base ; get control register address - - SET_STRETCH STRETCH - - ENTER_PCE_SPACE_AND_PUSH_STATE #0 - mov a,#PWMDISABLE ; disable PWM - movx @dptr,a - EXIT_PCE_SPACE_AND_POP_STATE - - RESTORE_STRETCH r0 - - clr a ; success - ret - - end - diff --git a/lib/aicsim.cpp b/lib/aicsim.cpp deleted file mode 100644 index 357ffdf..0000000 --- a/lib/aicsim.cpp +++ /dev/null @@ -1,113 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card Simulator - Copyright (C) 2003, 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include -#include -using namespace std; -#include -#include -#include -#include - -#include -#include - -AIC_SIM::AIC_SIM(void) -:AIC(this) -{ - count=0; -} - -int AIC_SIM::get_status(int status,...) -{ - switch(status) - { - case AIC_STATUS: - { - va_list ap; - - va_start(ap,status); - double *disp=va_arg(ap,double *); - *disp=count*0.5; - - int *index=va_arg(ap,int *); - *index=(count % 4 == 0)? AIC_INDEX_ON:0; - - va_end(ap); - - break; - } - } - count++; - return status; -} - -void AIC_SIM::send_command(int command,...) -{ - switch(command) - { - case AIC_MOTOR_ON: - { - cout << "AIC Motor ON\t"; - break; - } - case AIC_MOTOR_OFF: - { - cout << "AIC Motor OFF\t"; - break; - } - case AIC_BRAKE_RELEASE: - { - cout << "AIC Brake RELEASED\t"; - break; - } - case AIC_BRAKE_APPLY: - { - cout << "AIC Brake APPLIED\t"; - break; - } - case AIC_MOTOR_ACT: - { - va_list ap; - va_start(ap,command); - double volt=va_arg(ap,double); - va_end(ap); - cout << "AIC Motor Voltage=" << volt << "V\t"; - break; - } - case AIC_RESET: - { - count=0; - cout << "AIC Reset\t"; - break; - } - default: - { -#ifdef DEBUG - cerr << "Command " << command << " unknown by AIC_SIM\n"; -#endif - throw BAD_COMMAND(); - } - } -} diff --git a/lib/aicudp.cpp b/lib/aicudp.cpp deleted file mode 100644 index 5fcaff7..0000000 --- a/lib/aicudp.cpp +++ /dev/null @@ -1,219 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Host Interface Library - UDP Communication - Copyright (C) 2003, 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ -#include -using namespace std; - -#include -#include -#include -#include -#include -#include -#include -#include - -#include - - -AIC_UDP::AIC_UDP(const char *aicname,int statport,int cmdport) -:AIC(this) -{ - struct hostent *aicend=gethostbyname(aicname); - - struct in_addr *ptr=(struct in_addr *)aicend->h_addr; - if(ptr==NULL) - { -#ifdef DEBUG - cerr << "AIC_UDP::AIC_UDP error: " - << strerror(errno) << "\n"; -#endif - throw BAD_SOCKET(); - } - - bzero(&cmdaddr,sizeof(cmdaddr)); - cmdaddr.sin_family=AF_INET; - cmdaddr.sin_port=htons(cmdport); - memcpy(&cmdaddr.sin_addr,ptr,sizeof(struct in_addr)); - - if((cmdfd=socket(AF_INET,SOCK_DGRAM,0)) < 0) - { -#ifdef DEBUG - cerr << "AIC_UDP::AIC_UDP error: " - << strerror(errno) << "\n"; -#endif - throw BAD_SOCKET(); - } - - bzero(&stataddr,sizeof(stataddr)); - stataddr.sin_family=AF_INET; - stataddr.sin_addr.s_addr=htonl(INADDR_ANY); - stataddr.sin_port=htons(statport); - - if((statfd=socket(AF_INET,SOCK_DGRAM,0)) < 0) - { -#ifdef DEBUG - cerr << "AIC_UDP::AIC_UDP error: " - << strerror(errno) << "\n"; -#endif - throw BAD_SOCKET(); - } - if((bind(statfd,(struct sockaddr *) &stataddr,sizeof(stataddr))) < 0) - { -#ifdef DEBUG - cerr << "AIC_UDP::AIC_UDP error: " - << strerror(errno) << "\n"; -#endif - throw BAD_BIND(); - } -} - - -AIC_UDP::~AIC_UDP(void) -{ - shutdown(cmdfd,SHUT_RDWR); - shutdown(statfd,SHUT_RDWR); -} - -int AIC_UDP::get_status(int status,...) -{ - char buff[32]; - int count; - - socklen_t statlen=sizeof(stataddr); - - if((count=recvfrom(statfd,buff,32,0,(struct sockaddr *) &stataddr,&statlen)) <= 0) - { -#ifdef DEBUG - cerr << "AIC_UDP::get_status error: " - << strerror(errno) << "\n"; -#endif - throw BAD_RECEIVE(); - } - - int cmd=buff[0]; - - switch(cmd) - { - case AIC_STATUS: - { - if((count != 13) && (count != 9)) - { -#ifdef DEBUG - cerr << "AIC_UDP::get_status error: count = " - << count << "\n"; -#endif - throw BAD_RECEIVE(); - } - - va_list ap; - va_start(ap,status); - double *disp=va_arg(ap,double *); - if(count == 9) - { - int d=0; - for(int i=0;i < 4;i++) *(((unsigned char *)d)+i)=buff[3-i+1]; - *disp=d; - } - else for(int i=0;i < 8;i++) *(((unsigned char *)disp)+i)=buff[7-i+1]; - - int *index=va_arg(ap,int *); - for(int i=0;i < 4;i++) *(((unsigned char *)index)+i)=buff[3-i+9]; - va_end(ap); - break; - } - } - - return cmd; -} - -void AIC_UDP::send_command(int command,...) -{ - char buff[32]; - int len=0; - - buff[len++]=command; - - switch(command) - { - case AIC_MOTOR_ON: - case AIC_MOTOR_OFF: - case AIC_BRAKE_APPLY: - case AIC_BRAKE_RELEASE: - case AIC_RESET: - { - break; - } - case AIC_MOTOR_ACT: - { - va_list ap; - va_start(ap,command); - double volt=va_arg(ap,double); - va_end(ap); - for(int i=0;i < 8;i++) buff[7-i+len]= *((char *) &volt + i); - len+=8; - break; - } - case AIC_MOTOR_REF: - { - va_list ap; - va_start(ap,command); - double ref=va_arg(ap,double); - va_end(ap); - for(int i=0;i < 8;i++) buff[7-i+len]= *((char *) &ref + i); - len+=8; - break; - } - case AIC_USER0: - case AIC_USER1: - case AIC_USER2: - case AIC_USER3: - { - va_list ap; - va_start(ap,command); - int n=va_arg(ap,int); - char *ptr; - if(n > 0) - { - ptr=va_arg(ap,char *); - for(int i=0;i < n;i++) buff[len++]=ptr[i]; - } - va_end(ap); - if(n > 31) throw BAD_SEND(); - - break; - } - default: throw BAD_SEND(); - } - - if(sendto(cmdfd,buff,len,0,(struct sockaddr *) &cmdaddr,sizeof(cmdaddr)) < 0) - { -#ifdef DEBUG - cerr << "AIC_UDP::send_command error: " - << strerror(errno) << "\n"; -#endif - throw BAD_SEND(); - } -} diff --git a/lib/buffer.c b/lib/buffer.c new file mode 100644 index 0000000..8057dda --- /dev/null +++ b/lib/buffer.c @@ -0,0 +1,71 @@ +/****************************************************************************** + + Actuator Interface Card + Rotation Buffer + Copyright (C) 2008 Diego Caberlon Santini + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + + You can also obtain a copy of the GNU General Public License + at . + +******************************************************************************* +2008.06.13 -> Start by Diego Caberlon Santini +*/ +#include + +#include "buffer.h" + +void buffer_init(buffer_info_t *buffer_ptr) +{ + buffer_ptr->ptr_base=buffer_ptr->buffer; + buffer_ptr->ptr_in=buffer_ptr->buffer; + buffer_ptr->ptr_out=buffer_ptr->buffer; + buffer_ptr->count=0; +} + +int buffer_put(buffer_info_t *buffer_ptr, char data) +{ + if(buffer_ptr->count == BUFFER_SIZE) + return -1; + + *(buffer_ptr->ptr_in)=data; + buffer_ptr->count++; + buffer_ptr->ptr_in++; + + if(buffer_ptr->ptr_in==buffer_ptr->ptr_base+BUFFER_SIZE) + buffer_ptr->ptr_in=buffer_ptr->buffer; + + return 0; +} + +int buffer_get(buffer_info_t *buffer_ptr, char *data) +{ + if(buffer_ptr->count == 0) + return -1; + + *data=*(buffer_ptr->ptr_out); + buffer_ptr->count--; + buffer_ptr->ptr_out++; + + if(buffer_ptr->ptr_out==buffer_ptr->ptr_base+BUFFER_SIZE) + buffer_ptr->ptr_out=buffer_ptr->buffer; + + return 0; +} + +void buffer_end(buffer_info_t *buffer_ptr) +{ +} diff --git a/lib/serial.c b/lib/serial.c new file mode 100644 index 0000000..c0167bc --- /dev/null +++ b/lib/serial.c @@ -0,0 +1,101 @@ +/****************************************************************************** + + Actuator Interface Card + Serial Transmit + Copyright (C) 2008 Diego Caberlon Santini + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + + You can also obtain a copy of the GNU General Public License + at . + +******************************************************************************* +2008.06.13 -> Start by Diego Caberlon Santini, for now it is just transmission + */ + +#include + +#include "serial.h" + +/*---------------------------------------------------------------------------*/ +void __attribute__((interrupt,auto_psv)) _U1TXInterrupt(void) +{ + char data='\n'; + + /*put in FIFO while it is not full*/ + while((!U1STAbits.UTXBF) && (serial_buffer.count!=0)) + { + buffer_get(&serial_buffer,&data); + U1TXREG=data; + } + + _U1TXIF = 0; //Clear Interrupt Flag +} + +/*---------------------------------------------------------------------------*/ +void serial_init() +{ + buffer_init(&serial_buffer); + + //step 1 from dsPIC30F reference + U1BRG=77; /*UART freq is Fcy/(16*(BRG+1)) = 19230Hz*/ + + //step2 + /*config UART MODE*/ + U1MODE&=~(0x07); + U1MODE|=(0x400); + + //step3 + _U1TXIE=1; /*request interrup*/ + _U1TXIP=1; /*low priority*/ + U1STA|=(0x8000); + + //step4 + U1MODE|=(0x8000); + + //step5 + U1STA|=(0x0400); + +} + +/*---------------------------------------------------------------------------*/ +int serial_write(char *data, int size) +{ + char aux; + int i; + + if(size>SERIAL_SIZE) + return -1; + + for(i=0;i - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include -#include - -void *get_status(void *arg) -{ - double disp; - int index; - - - SPUTTERING *sputtering=(SPUTTERING *) arg; - - while(sputtering->run) - { - disp=sputtering->encoder.read(&index); - usleep(500000); - } - pthread_exit(0); -} - -SPUTTERING::SPUTTERING(const char *name,int statusport): -AIC_UDP(name,statusport), -SHUTTER(AIC_USER0) -{ - run=1; - pthread_create(&get_status_th,NULL,&::get_status,this); -} - -SPUTTERING::~SPUTTERING(void) -{ - run=0; - pthread_join(get_status_th,NULL); -} - -void SPUTTERING::reset(void) -{ - while(busy()); - AIC::reset(); -} - -void SPUTTERING::reference(double ref) -{ - while(busy()); - AIC::reference(ref); -} - -void SPUTTERING::shutter(unsigned int us) -{ - while(busy()); - send_command(SHUTTER,sizeof(us),&us); -} diff --git a/lib/tlib/Makefile b/lib/tlib/Makefile deleted file mode 100644 index 2526638..0000000 --- a/lib/tlib/Makefile +++ /dev/null @@ -1,47 +0,0 @@ -ASMINC:=../${ASMINC} -TINIINC=${ASMINC}/tini.inc ${ASMINC}/tinimacro.inc ${ASMINC}/ds80c390.inc ${ASMINC}/apiequ.inc - -SDCCINCLUDE+= -I../../include -export SDCCCMPFLAGS=${SDCCFLAGS} ${SDCCINCLUDE} - -all: brake.mpp index.mpp encoder.mpp pwm.mpp sputtering.mpp - -${ASMINC}/tini.inc: ${NATINC}/tini.inc - ln -s ${NATINC}/tini.inc ${ASMINC}/tini.inc - -${ASMINC}/tinimacro.inc: ${NATINC}/tinimacro.inc - ln -s ${NATINC}/tinimacro.inc ${ASMINC}/tinimacro.inc - -${ASMINC}/ds80c390.inc: ${NATINC}/ds80c390.inc - ln -s ${NATINC}/ds80c390.inc ${ASMINC}/ds80c390.inc - -${ASMINC}/apiequ.inc: ${NATINC}/apiequ.inc - ln -s ${NATINC}/apiequ.inc ${ASMINC}/apiequ.inc - -brake.mpp: brake.a51 ${TINIINC} - ${ASMMACRO} -I${ASMINC} -e- brake.a51 - -index.mpp: index.a51 ${TINIINC} - ${ASMMACRO} -I${ASMINC} -e- index.a51 - -encoder.mpp: encoder.a51 ${TINIINC} - ${ASMMACRO} -I${ASMINC} -e- encoder.a51 - -pwm.mpp: pwm.a51 ${TINIINC} - ${ASMMACRO} -I${ASMINC} -e- pwm.a51 - -sputtering.mpp: sputtering.a51 - ${ASMMACRO} -I${ASMINC} -e- sputtering.a51 - -sputtering.a51: sputtering.c - ${SDCC} ${SDCCCMPFLAGS} sputtering.c - -install: - -clean: - rm -rf *.o *~ *.bak *.class ../include/{*.bak,*~} br *.tlib *.mpp ${TINIINC} *.lst sputtering.a51 - -distclean: clean - rm -rf AIC.jar *.a - -uninstall: diff --git a/lib/tlib/brake.a51 b/lib/tlib/brake.a51 deleted file mode 100644 index d3c3324..0000000 --- a/lib/tlib/brake.a51 +++ /dev/null @@ -1,77 +0,0 @@ -;****************************************************************************** -; -; Actuator Interface Card -; Brake Native Methods -; Copyright (C) 2004, 2005 Walter Fetter Lages -; -; This program is free software; you can redistribute it and/or modify -; it under the terms of the GNU General Public License as published by -; the Free Software Foundation; either version 2 of the License, or -; (at your option) any later version. -; -; This program is distributed in the hope that it will be useful, -; but WITHOUT ANY WARRANTY; without even the implied warranty of -; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -; GNU General Public License for more details. -; -; You should have received a copy of the GNU General Public License -; along with this program; if not, write to the Free Software -; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. -; -; You can also obtain a copy of the GNU General Public License -; at . -; -;******************************************************************************* - -$include(tini.inc) -$include(ds80c390.inc) -$include(tinimacro.inc) - -$include(aicpld.inc) -$include(aicmacro.inc) - -; Native library initialization routine -; This routine must exist -; This routine must be at offset 0 -; If -f and -p options are used, a390 relocates this routine -; to another offset -; Label is meaningless and is not used by Java Sytem.LoadLibrary() -lib_init: - clr a ; success - ret - -; Initializes Brake -; private static native void initialize(int base); -native_initialize: - clr a - lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0 - - mov b,r3 ; SDCC parameters in b:dpx:dph:dpl - mov dpx,r2 ; BUG IN SDCC MANUAL! - mov dph,r1 - mov dpl,r0 - - lcall brake_initialize - - clr a ; success - ret - -; Applies the electromagnetic brakes -; public static native void apply() -native_apply: - - lcall brake_apply - - clr a ; success - ret - -; Releases the electromagnetic brake -; public static native void release() -native_release: - - lcall brake_release - - clr a ; success - ret - - end diff --git a/lib/tlib/encoder.a51 b/lib/tlib/encoder.a51 deleted file mode 100644 index 3c93d80..0000000 --- a/lib/tlib/encoder.a51 +++ /dev/null @@ -1,110 +0,0 @@ -;****************************************************************************** -; -; Actuator Interface Card -; Encoder Native Methods -; Copyright (C) 2004, 2005 Walter Fetter Lages -; -; This program is free software; you can redistribute it and/or modify -; it under the terms of the GNU General Public License as published by -; the Free Software Foundation; either version 2 of the License, or -; (at your option) any later version. -; -; This program is distributed in the hope that it will be useful, -; but WITHOUT ANY WARRANTY; without even the implied warranty of -; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -; GNU General Public License for more details. -; -; You should have received a copy of the GNU General Public License -; along with this program; if not, write to the Free Software -; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. -; -; You can also obtain a copy of the GNU General Public License -; at . -; -;******************************************************************************* - -$include(tini.inc) -$include(ds80c390.inc) -$include(tinimacro.inc) - -$include(aicpld.inc) -$include(aicmacro.inc) - -; Native library initialization routine -; This routine must exist -; This routine must be at offset 0 -; If -f and -p options are used, a390 relocates this routine -; to another offset -; Label is meaningless and is not used by Java Sytem.LoadLibrary() -lib_init: - clr a ; success - ret - -; Initializes Encoder -; private static native void initialize(int base); -native_initialize: - clr a - - lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0 - - mov b,r3 ; SDCC parameter in b:dpx:dph:dpl - mov dpx,r2 ; BUG IN SDCC MANUAL! - mov dph,r1 - mov dpl,r0 - - - lcall encoder_initialize - - clr a ; sucess - ret - - -; Finalizes Encoder -; public native void finalize() -native_finalize: - lcall encoder_finalize - - clr a ; success - ret - -; Clears the counter on the quadrature decoder chip -; public void clear() -native_clear: - lcall encoder_clear - - clr a ; success - ret - -; Gets the count on the quadrature decoder chip -; return the number of pulses (in 2-complement) since the last time -; the counter was cleared -; public static native int getCount() -native_getCount: - lcall encoder_get_count ; SDCC returns value in b:dpx:dph:dpl - - mov r0,dpl ; java native return value in R3:R2:R1:R0 - mov r1,dph - mov r2,dpx - mov r3,b - - clr a ; sucess - ret - - -; Gets the count and clears the counter on the quadrature decoder chip -; return the number of pulses (in 2-complement) since the last time -; the counter was cleared -; public static native int getCountAndClear() -native_getCountAndClear: - lcall encoder_get_count_and_clear ; SDCC returns value in b:dpx:dph:dpl - - mov r0,dpl ; java native return value in R3:R2:R1:R0 - mov r1,dph - mov r2,dpx - mov r3,b - - clr a ; sucess - ret - - end - diff --git a/lib/tlib/index.a51 b/lib/tlib/index.a51 deleted file mode 100644 index 4e6e22e..0000000 --- a/lib/tlib/index.a51 +++ /dev/null @@ -1,75 +0,0 @@ -;****************************************************************************** -; -; Actuator Interface Card -; Index Native Methods -; Copyright (C) 2004, 2005 Walter Fetter Lages -; -; This program is free software; you can redistribute it and/or modify -; it under the terms of the GNU General Public License as published by -; the Free Software Foundation; either version 2 of the License, or -; (at your option) any later version. -; -; This program is distributed in the hope that it will be useful, -; but WITHOUT ANY WARRANTY; without even the implied warranty of -; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -; GNU General Public License for more details. -; -; You should have received a copy of the GNU General Public License -; along with this program; if not, write to the Free Software -; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. -; -; You can also obtain a copy of the GNU General Public License -; at . -; -;******************************************************************************* - -$include(tini.inc) -$include(ds80c390.inc) -$include(tinimacro.inc) - -$include(aicpld.inc) -$include(aicmacro.inc) - -; Native library initialization routine -; This routine must exist -; This routine must be at offset 0 -; If -f and -p options are used, a390 relocates this routine -; to another offset -; Label is meaningless and is not used by Java Sytem.LoadLibrary() -lib_init: - clr a ; success - ret - - -; Initializes Index -; private static final native void initialize(int base); -native_initialize: - clr a - lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0 - - mov b,r3 ; SDCC parameters in b:dpx:dph:dpl - mov dpx,r2 ; BUG IN SDCC MANUAL! - mov dph,r1 - mov dpl,r0 - - lcall index_initialize - - clr a ; success - ret - -; Reads the sync-switch -; returns the sync-switch state -; public static native boolean read() -native_read: - lcall index_read ; SDCC returns value in b:dpx:dph:dpl - - mov r0,dpl ; java native return value in R3:R2:R1:R0 - mov r1,dph - mov r2,dpx - mov r3,b - - clr a ; sucess - ret - - end - diff --git a/lib/tlib/pwm.a51 b/lib/tlib/pwm.a51 deleted file mode 100644 index 5812241..0000000 --- a/lib/tlib/pwm.a51 +++ /dev/null @@ -1,142 +0,0 @@ -;****************************************************************************** -; -; Actuator Interface Card -; PWM Native Methods -; Copyright (C) 2004, 2005 Walter Fetter Lages -; -; This program is free software; you can redistribute it and/or modify -; it under the terms of the GNU General Public License as published by -; the Free Software Foundation; either version 2 of the License, or -; (at your option) any later version. -; -; This program is distributed in the hope that it will be useful, -; but WITHOUT ANY WARRANTY; without even the implied warranty of -; MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -; GNU General Public License for more details. -; -; You should have received a copy of the GNU General Public License -; along with this program; if not, write to the Free Software -; Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. -; -; You can also obtain a copy of the GNU General Public License -; at . -; -;******************************************************************************* - -$include(tini.inc) -$include(ds80c390.inc) -$include(tinimacro.inc) - -$include(i8254.inc) -$include(aicpld.inc) -$include(aicmacro.inc) - -; Native library initialization routine -; This routine must exist -; This routine must be at offset 0 -; If -f and -p options are used, a390 relocates this routine -; to another offset -; Label is meaningless and is not used by Java Sytem.LoadLibrary() -lib_init: - clr a ; success - ret - -; Sets the frequency of PWM in cycles of 10MHz -; public static native void setCount(int count) -native_setCount: - clr a - lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0 - ; only the lower 16 bits are usefull - - mov dph,r1 ; SDCC parameter in dph:dpl - mov dpl,r0 ; BUG IN SDCC MANUAL! - - lcall pwm_set_count - - clr a ; success - ret - -; Initializes PWM -; private static native void initialize(int base,int min_count,int count); -native_initialize: - mov a,#2h - lcall Natlib_LoadPrimitive ; get third parameter in R3:R2:R1:R0 - - push R0_B0 - push R1_B0 - - mov a,#1h - lcall Natlib_LoadPrimitive ; get second parameter in R3:R2:R1:R0 - - push R0_B0 - push R1_B0 - - clr a - lcall Natlib_LoadPrimitive ; get first parameter in R3:R2:R1:R0 - - mov b,r3 ; SDCC parameter in b:dpx:dph:dpl - mov dpx,r2 ; BUG IN SDCC MANUAL! - mov dph,r1 - mov dpl,r0 - - - lcall pwm_initialize - - pop ACC ; fix-up stack - pop ACC - pop ACC - pop ACC - - clr a ; sucess - ret - - -; Finalizes PWM -; public native void finalize() -native_finalize: - lcall pwm_finalize - - clr a ; sucess - ret - -; Sets the duty-cycle of PWM -; public static native int setDuty(int dutycycle) -native_setDuty: - clr a - lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0 - - mov b,r3 ; SDCC parameter in b:dpx:dph:dpl - mov dpx,r2 ; BUG IN SDCC MANUAL! - mov dph,r1 - mov dpl,r0 - - lcall pwm_set_duty ; SDCC returns value in dph:dpl - - mov r0,dpl ; java native return value in R3:R2:R1:R0 - mov r1,dph - mov r2,dpx - mov r3,b - - clr a ; sucess - ret - - -; Turns the PWM on -; public static native void on() - -native_on: - lcall pwm_on - - clr a ; sucess - ret - -; Turns the PWM off -; public static native void off() -native_off: - lcall pwm_off - - clr a ; sucess - ret - - end - diff --git a/lib/tlib/sputtering.c b/lib/tlib/sputtering.c deleted file mode 100644 index c5dfdce..0000000 --- a/lib/tlib/sputtering.c +++ /dev/null @@ -1,313 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - Sputtering Real Time Module - Copyright (C) 2007 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include -#include - -#include - -#include - -#define BASE 0x800000 - -#define Kp 0.5 -#define Ki 0.000005 -#define Kd 0.00 - -#define MIN_U -12.0 -#define MAX_U 12.0 - -#define DEAD_Z 1.0 - -#define TOL 0.005 - -static pthread_t pid_th; -static pthread_t shutter_th; -static float u; -static float y; -static float ref; -static float e1; -static float i; -static long time_count; -static long time_ref; -static unsigned char lock; - -static void pid_dummy(void) _naked -{ - _asm -pid_th: db 0,0,0,0 -shutter_th: db 0,0,0,0 -u: db 0,0,0,0 -y: db 0,0,0,0 -ref: db 0,0,0,0 -e1: db 0,0,0,0 -i: db 0,0,0,0 -time_count: db 0,0,0,0 -time_ref: db 0,0,0,0 -lock: db 0 - _endasm; -} - -/* By now this is not actually a thread as it should be, - but a function that is called at each timer interrupt */ -void *shutter(void *arg) -{ - time_count++; - if(time_count >= time_ref) brake_apply(); - - return NULL; -} - -/* By now this is not actually a thread as it should be, - but a function that is called at each timer interrupt */ -void *pid(void *arg) -{ - float e; - - time_count++; - - y+=encoder_read_and_clear(); - - e=ref-y; - - i+=Ki*e; - - u=Kp*e + i + Kd*(e-e1); - - if(u < -TOL) u-=DEAD_Z; - if(u > TOL) u+=DEAD_Z; - - if(u < MIN_U) u=MIN_U; - if(u > MAX_U) u=MAX_U; - - motor_set(u); - - e1=e; - - return NULL; -} - - -/* public static native int pidRealtime(int period) */ -long Native_pidStartRealtime(void) _JavaNative -{ - long period; - RTIME count; - - period = NatLib_LoadInt(0); - count=micro2count(period); - start_rt_timer(count); - pthread_create(&pid_th,NULL,pid,NULL); - - time_count=0; - - _asm - clr a - _endasm; - - return period; -} - -/* public static native void pidStopRealtime() */ -void Native_pidStopRealtime(void) _JavaNative -{ - motor_set(0.0); - - pthread_cancel(pid_th); - stop_rt_timer(); - - _asm - clr a - _endasm; -} - -/* public static native int shutterStartRealtime(int period) */ -long Native_shutterStartRealtime(void) _JavaNative -{ - long period; - RTIME count; - - period = NatLib_LoadInt(0); - count=micro2count(period); - start_rt_timer(count); - pthread_create(&shutter_th,NULL,shutter,NULL); - - time_count=0; - - brake_release(); - - _asm - clr a - _endasm; - - return period; -} - -/* public static native void shutterStopRealtime() */ -void Native_shutterStopRealtime(void) _JavaNative -{ - - pthread_cancel(shutter_th); - stop_rt_timer(); - - _asm - clr a - _endasm; -} - - -/* public static native float getOutput() */ -float Native_getOutput(void) _JavaNative -{ - return y; -} - -long Native_getTime(void) _JavaNative -{ - return time_count; -} - -long Native_getIndex(void) _JavaNative -{ - return index_read(); -} - -void Native_findHome(void) _JavaNative -{ - motor_set(2.5); - while(!(index_read())); - - if(index_read()) motor_set(-1.25); - - while(!(index_read())); - - if(index_read()) motor_set(1.25); - - while(!(index_read())); - - motor_set(0.0); - - encoder_read_and_clear(); - - y=0; - - _asm - clr a - _endasm; -} - -void Native_initialize(void) _JavaNative -{ - aic_initialize(BASE,12.0,20e3,4*2048); - aic_on(); - motor_set(0.0); - y=0; - lock=1; - - _asm - clr a - _endasm; -} - -void Native_finalize(void) _JavaNative -{ - aic_off(); - - aic_finalize(); - - _asm - clr a - _endasm; -} - - -/* public static native void setReference(float reference) */ -void Native_setReference(void) _JavaNative -{ - /* - volatile long ref =NatLib_LoadInt(0); - ref=*((float *) &ref); - */ - - _asm - clr a - lcall Natlib_LoadPrimitive ; get parameter in R3:R2:R1:R0 - mov dptr,#ref - mov a,r0 - movx @dptr,a - inc dptr - mov a,r1 - movx @dptr,a - inc dptr - mov a,r2 - movx @dptr,a - inc dptr - mov a,r3 - movx @dptr,a - clr a - _endasm; -} - - -/* public static native void openShutter(int timeRef) */ -void Native_openShutter(void) _JavaNative -{ - time_ref = NatLib_LoadInt(0); - - _asm - clr a - _endasm; -} - -unsigned char Native_lock(void) _JavaNative -{ - _asm - mov dptr,#lock - movx a,@dptr - djnz ACC,L070185DIE - movx @dptr,a - mov r0,#0FFh - mov r1,#00h - mov r2,#00h - mov r3,#00h - ret -L070185DIE: - inc a; - movx @dptr,a - clr a; - _endasm; - return 0x00; -} - -void Native_unlock(void) _JavaNative -{ - _asm - mov dptr,#lock - movx a,@dptr - inc a - movx @dptr,a - clr a; - _endasm; -} diff --git a/motortst/Makefile b/motortst/Makefile deleted file mode 100644 index 125430a..0000000 --- a/motortst/Makefile +++ /dev/null @@ -1,12 +0,0 @@ -all: motortst - -motortst: motortst.cpp ../lib/libaic.a - ${CXX} ${CMPFLAGS} -o motortst motortst.cpp ${LDFLAGS} - -clean: - rm -f *~ *.bak *.o - -install: - -distclean: clean - rm -f motortst diff --git a/motortst/motortst.cpp b/motortst/motortst.cpp deleted file mode 100644 index 42a5071..0000000 --- a/motortst/motortst.cpp +++ /dev/null @@ -1,103 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Motor Test - Copyright (C) 2003 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include - -#include -#include -#include - -#include - -#include -#include - -const int ST=1000; - -void iter(AIC *aic,int i) -{ - aic->motor=i; - gotoxy(1,5); - cout << "Motor Voltage: " << i << "\t\n"; - delay(ST); -} - -int main(int argc,char *argv[]) -{ - int i; - int run=1; - - clrscr(); - cout << "\nAIC Motor Test Program\n"; - cout << "Copyright (C) 2003 Walter Fetter Lages .\n\n"; - - if((argc < 2) || (argc > 4) || - ((argc >= 3) && strcasecmp(argv[1],"-UDP"))) - { - cout << "USAGE:\t" << argv[0] << " can_id\n"; - cout << "\tor\n\t" << argv[0] << " -UDP aic [status_port]\n"; - return -1; - } - - AIC *aic; - switch(argc) - { - default: - case 2: aic=new AIC_CAN(atoi(argv[1])); break; - case 3: aic=new AIC_UDP(argv[2]); break; - case 4: aic=new AIC_UDP(argv[2],atoi(argv[3])); break; - } - - aic->motor.on(); - aic->brake.release(); - - for(i=0;(i <= 24) && run;i++) - { - if(kbhit()) run=0; - iter(aic,i); - } - while(run) - { - for(i=24;(i > -24) && run;i--) - { - if(kbhit()) run=0; - iter(aic,i); - } - for(i=-24;(i <= 24) && run;i++) - { - if(kbhit()) run=0; - iter(aic,i); - } - } - getch(); - - aic->motor=0; - aic->brake.apply(); - aic->motor.off(); - - clrscr(); - return 0; - -} diff --git a/pid/Makefile b/pid/Makefile deleted file mode 100644 index 6e9ce67..0000000 --- a/pid/Makefile +++ /dev/null @@ -1,18 +0,0 @@ -all: pid .runinfo - -pid: pid.cpp ../include/aic.h ../lib/libaic.a - ${CXX} ${CMPFLAGS} -o pid pid.cpp ${LDFLAGS} - -../lib/libaic.a: - $(MAKE) -C ../lib - -clean: - rm -f *~ *.bak *.o - -install: - -distclean: clean - rm -f pid *.dat .runinfo - -.runinfo: - echo "pid:lxrt:./pid;popall:" > .runinfo diff --git a/pid/pid.cpp b/pid/pid.cpp deleted file mode 100644 index 3af8fa8..0000000 --- a/pid/pid.cpp +++ /dev/null @@ -1,168 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC PID Controller - Copyright (C) 2003, 2004 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include -#include -using namespace std; - -#include -#include - -#include - -#include -#include - -#include - -static inline double ref(double t) -{ - return M_PI; -} - -int main(int argc,char *argv[]) -{ - if((argc < 2) || (argc > 4) || - ((argc >= 3) && strcasecmp(argv[1],"-UDP"))) - { - cout << "AIC PID Controller\n"; - cout << "Copyright (C) 2003 Walter Fetter Lages .\n"; - cout << "USAGE:\t" << argv[0] << " can_id\n"; - cout << "\tor\n\t" << argv[0] << " -UDP aic [status_port]\n"; - return -1; - } - - double gain[3]={20,5,10}; - - const double ST=1; // dummy - const double TF=2; - - AIC *aic; - try - { - switch(argc) - { - default: - case 2: aic=new AIC_CAN(atoi(argv[1])); break; - case 3: aic=new AIC_UDP(argv[2]); break; - case 4: aic=new AIC_UDP(argv[2],atoi(argv[3])); break; - } - } - catch(AIC_CAN::BAD_OPEN) - { - cerr << "Can't open CAN" << endl; - return -1; - } - catch(AIC_CAN::BAD_PARMS) - { - cerr << "Bad CAN parameters" << endl; - return -1; - } - catch(AIC_CAN::BAD_BUSON) - { - cerr << "Bad CAN bus" << endl; - return -1; - } - aic->motor.on(); - aic->brake.release(); - - PID_CONTROLLER pid(gain[0],gain[1],gain[2]); - pid.saturate(1,-24.0,24.0); - - double u=0.0; - double y=0.0; - - int run=1; - - unsigned long maintsk_name = nam2num("PID"); - struct sched_param mainsched; - - rt_allow_nonroot_hrt(); - - mainsched.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1; - if(sched_setscheduler(0,SCHED_FIFO, &mainsched ) == -1 ) - { - cerr << "Error setting scheduler: " << strerror(errno) << "\n"; - return -1; - } - - mlockall(MCL_CURRENT | MCL_FUTURE); - - RT_TASK *maintsk; - if(!(maintsk = rt_task_init(maintsk_name, 1, 0, 0))) - { - cerr << "Can't init master task\n"; - return -1; - } - - rt_set_oneshot_mode(); - int period = (int) nano2count((RTIME)(ST*1e9)); - start_rt_timer(period); - - rt_make_hard_real_time(); - - rt_task_make_periodic(maintsk,rt_get_time(),period); - - RTIME t0=rt_get_time_ns(); - - for(double t=0; t <= TF && run; t=(rt_get_time_ns()-t0)*1e-9) - { - -#ifdef VERBOSE - cout << t << "\t"; -#endif - - y+=aic->encoder.read(); - - double e=ref(t)-y; - u=pid.out(e); - -// aic->motor=u; - if(((int)t) % 2) aic->motor=12.0; else aic->motor=-12.0; // test - -#ifdef VERBOSE - cout << "\n"; -#endif - } - - aic->motor=0; - aic->brake.apply(); - aic->motor.off(); - rt_make_soft_real_time(); - stop_rt_timer(); - rt_task_delete(maintsk); - - try - { - delete aic; - } - catch(AIC_CAN::BAD_CLOSE) - { - cerr << "Can't close AIC_CAN" << endl; - return -2; - } - - return 0; -} diff --git a/pld/decoder.hst b/pld/decoder.hst deleted 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00000000000000000000000000000000000000000000* -L4884 11111111111111111111111111111111111111111111* -L4928 11111111111111111111111011111111111111111011* -L4972 00000000000000000000000000000000000000000000* -L5016 00000000000000000000000000000000000000000000* -L5060 00000000000000000000000000000000000000000000* -L5104 00000000000000000000000000000000000000000000* -L5148 00000000000000000000000000000000000000000000* -L5192 00000000000000000000000000000000000000000000* -L5236 00000000000000000000000000000000000000000000* -L5280 00000000000000000000000000000000000000000000* -L5324 00000000000000000000000000000000000000000000* -L5368 11111111111111111111111111111111111111111111* -L5412 11111111111111111111111011111111111111110111* -L5456 00000000000000000000000000000000000000000000* -L5500 00000000000000000000000000000000000000000000* -L5544 00000000000000000000000000000000000000000000* -L5588 00000000000000000000000000000000000000000000* -L5632 00000000000000000000000000000000000000000000* -L5676 00000000000000000000000000000000000000000000* -L5720 00000000000000000000000000000000000000000000* -L5764 00000000000000000000000000000000000000000000* -L5808 01010101111000011111* -C75EB* -180F diff --git a/pld/decoder.pds b/pld/decoder.pds deleted file mode 100644 index 0a1596a..0000000 --- a/pld/decoder.pds +++ /dev/null @@ -1,266 +0,0 @@ - -;PALASM Design Description - -;---------------------------------- Declaration Segment ------------ -TITLE DECODER.PDS -PATTERN A -REVISION 1.0 -AUTHOR Walter Fetter Lages -COMPANY UFRGS -DATE 10/10/02 - -CHIP DECODER PAL22V10 - -;---------------------------------- PIN Declarations --------------- -PIN 1 CLOCK ; INPUT -PIN 2..5 A[19..16] ; INPUT -PIN 6 /WR ; INPUT -PIN 7 /RD ; INPUT -PIN 8 D1 ; INPUT -PIN 9 REFPOS ; INPUT -PIN 10 /STROBE ; INPUT -PIN 11 PWM ; INPUT -PIN 12 GND -PIN 13 TRINT ; INPUT -PIN 14 DRVB COMBINATORIAL ; OUTPUT -PIN 15 DRVA COMBINATORIAL ; OUTPUT -PIN 16 /EXTINT COMBINATORIAL ; OUTPUT -PIN 17 /BRAKE REGISTERED ; OUTPUT -PIN 18 PWMEN REGISTERED ; OUTPUT -PIN 19 D0 COMBINATORIAL ; I/O -PIN 20 /EWR COMBINATORIAL ; OUTPUT -PIN 21 /ERD COMBINATORIAL ; OUTPUT -PIN 22 /CSPWM COMBINATORIAL ; OUTPUT -PIN 23 /CSLATCH COMBINATORIAL ; OUTPUT -PIN 24 VCC - - -;----------------------------------- Boolean Equation Segment ------ -EQUATIONS - -EXTINT = TRINT - -CSPWM= STROBE * A[19] * /A[18] * /A[17] * /A[16] -ERD= STROBE * RD * A[19] * /A[18] * /A[17] * A[16] -EWR= STROBE * WR * A[19] * /A[18] * /A[17] * A[16] -CSLATCH= STROBE * WR * A[19] * /A[18] * A[17] * /A[16] - -D0.TRST= STROBE * RD * A[19] * /A[18] * A[17] * /A[16] -D0=REFPOS - -PWMEN=D0 * /D1 + PWMEN * D1 - -BRAKE=D0 * D1 + BRAKE * /D1 - -DRVA=PWMEN * /PWM -DRVB=PWMEN * PWM - -;----------------------------------- State Segment ----------------- -STATE - -CLKF = CLOCK - -;----------------------------------- Simulation Segment ------------ -SIMULATION - -; TRINT/EXTINT tests - -TRACE_ON TRINT EXTINT -SETF TRINT -CHECK EXTINT -SETF /TRINT -CHECK /EXTINT -TRACE_OFF - -; Address decoding tests - -TRACE_ON A[19..16] /STROBE /RD /WR /CSPWM /ERD /EWR /CSLATCH D0 - -SETF /A[19] /A[18] /A[17] /A[16] /STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] /A[18] /A[17] A[16] /STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] /A[18] A[17] /A[16] /STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] /A[18] A[17] A[16] /STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] A[18] /A[17] /A[16] /STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] A[18] /A[17] A[16] /STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] A[18] A[17] /A[16] /STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] A[18] A[17] A[16] /STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] /A[18] /A[17] /A[16] /STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] /A[18] /A[17] A[16] /STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] /A[18] A[17] /A[16] /STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] /A[18] A[17] A[16] /STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] A[18] /A[17] /A[16] /STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] A[18] /A[17] A[16] /STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] A[18] A[17] /A[16] /STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] A[18] A[17] A[16] /STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 - -SETF /A[19] /A[18] /A[17] /A[16] STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] /A[18] /A[17] A[16] STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] /A[18] A[17] /A[16] STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] /A[18] A[17] A[16] STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] A[18] /A[17] /A[16] STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] A[18] /A[17] A[16] STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] A[18] A[17] /A[16] STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] A[18] A[17] A[16] STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] /A[18] /A[17] /A[16] STROBE /RD /WR -CHECK CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] /A[18] /A[17] A[16] STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] /A[18] A[17] /A[16] STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] /A[18] A[17] A[16] STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] A[18] /A[17] /A[16] STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] A[18] /A[17] A[16] STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] A[18] A[17] /A[16] STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] A[18] A[17] A[16] STROBE /RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 - -SETF /A[19] /A[18] /A[17] /A[16] STROBE RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] /A[18] /A[17] A[16] STROBE RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] /A[18] A[17] /A[16] STROBE RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] /A[18] A[17] A[16] STROBE RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] A[18] /A[17] /A[16] STROBE RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] A[18] /A[17] A[16] STROBE RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] A[18] A[17] /A[16] STROBE RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] A[18] A[17] A[16] STROBE RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] /A[18] /A[17] /A[16] STROBE RD /WR ; CSPWM active -CHECK CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] /A[18] /A[17] A[16] STROBE RD /WR ; ERD active -CHECK /CSPWM ERD /EWR /CSLATCH ^D0 -SETF A[19] /A[18] A[17] /A[16] STROBE RD /WR REFPOS ; DO driving output -CHECK /CSPWM /ERD /EWR /CSLATCH D0 -SETF A[19] /A[18] A[17] A[16] STROBE RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] A[18] /A[17] /A[16] STROBE RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] A[18] /A[17] A[16] STROBE RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] A[18] A[17] /A[16] STROBE RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] A[18] A[17] A[16] STROBE RD /WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 - -SETF /A[19] /A[18] /A[17] /A[16] STROBE /RD WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] /A[18] /A[17] A[16] STROBE /RD WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] /A[18] A[17] /A[16] STROBE /RD WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] /A[18] A[17] A[16] STROBE /RD WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] A[18] /A[17] /A[16] STROBE /RD WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] A[18] /A[17] A[16] STROBE /RD WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] A[18] A[17] /A[16] STROBE /RD WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /A[19] A[18] A[17] A[16] STROBE /RD WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] /A[18] /A[17] /A[16] STROBE /RD WR -CHECK CSPWM /ERD /EWR /CSLATCH ^D0 ; CSPWM active -SETF A[19] /A[18] /A[17] A[16] STROBE /RD WR -CHECK /CSPWM /ERD EWR /CSLATCH ^D0 ; EWR active -SETF A[19] /A[18] A[17] /A[16] STROBE /RD WR -CHECK /CSPWM /ERD /EWR CSLATCH ^D0 ; CSLATCH active -SETF A[19] /A[18] A[17] A[16] STROBE /RD WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] A[18] /A[17] /A[16] STROBE /RD WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] A[18] /A[17] A[16] STROBE /RD WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] A[18] A[17] /A[16] STROBE /RD WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF A[19] A[18] A[17] A[16] STROBE /RD WR -CHECK /CSPWM /ERD /EWR /CSLATCH ^D0 -SETF /STROBE /RD /WR - -TRACE_OFF - -; REFPOS tests - -TRACE_ON A[19..16] /STROBE /RD /WR /CSPWM /ERD /EWR /CSLATCH D0 REFPOS - -SETF A[19] /A[18] A[17] /A[16] STROBE RD /WR REFPOS -CHECK /CSPWM /ERD /EWR /CSLATCH D0 -SETF A[19] /A[18] A[17] /A[16] STROBE RD /WR /REFPOS -CHECK /CSPWM /ERD /EWR /CSLATCH /D0 -SETF /STROBE /RD /WR - -TRACE_OFF - -; BRAKE PWMEN tests - -TRACE_ON CLOCK D0 D1 BRAKE PWMEN - -SETF D0 D1 -CLOCKF CLOCK -CHECK BRAKE /PWMEN -SETF /D0 D1 -CLOCKF CLOCK -CHECK /BRAKE /PWMEN - -SETF D0 /D1 /PWM -CLOCKF CLOCK -CHECK /BRAKE PWMEN DRVA /DRVB -SETF /D0 /D1 /PWM -CLOCKF CLOCK -CHECK /BRAKE /PWMEN /DRVA /DRVB - -TRACE_OFF - -; DRVA/DRVB/PWM tests - -TRACE_ON PWMEN PWM DRVA DRVB - -SETF /PWM /D1 /D0 -CLOCKF CLOCK -CHECK /DRVA /DRVB /PWMEN -SETF PWM -CHECK /DRVA /DRVB /PWMEN - -SETF /PWM /D1 D0 -CLOCKF CLOCK -CHECK DRVA /DRVB PWMEN -SETF PWM -CHECK /DRVA DRVB PWMEN - -TRACE_OFF - -;------------------------------------------------------------------- - - diff --git a/pld/decoder.trf b/pld/decoder.trf deleted file mode 100644 index ef8c3cb..0000000 --- a/pld/decoder.trf +++ /dev/null @@ -1,86 +0,0 @@ -PALASM4 PLDSIM - MARKET RELEASE 1.5 (7-10-92) - (C) - COPYRIGHT ADVANCED MICRO DEVICES INC., 1992 - -PALASM SIMULATION SELECTIVE TRACE LISTING - -Title : DECODER.PDS Author : Walter Fetter Lag -Pattern : A Company : UFRGS -Revision : 1.0 Date : 10/10/02 - -PAL22V10 -Page : 1 - - gg - TRINT HL - EXTINT HL - -PAL22V10 -Page : 2 - - gggggggggggggggggggggggggggggggggggggggggggggggggggggggggggg - A[19] LLLLLLLLHHHHHHHHLLLLLLLLHHHHHHHHLLLLLLLLHHHHHHHHLLLLLLLLHHHH - A[18] LLLLHHHHLLLLHHHHLLLLHHHHLLLLHHHHLLLLHHHHLLLLHHHHLLLLHHHHLLLL - A[17] LLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHHLLHH - A[16] LHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLHLH -/STROBE HHHHHHHHHHHHHHHHLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLLL -/RD HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLLLLLLLLLLLLLLLLHHHHHHHHHHHH -/WR HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLLLLLLLLLLLL -/CSPWM HHHHHHHHHHHHHHHHHHHHHHHHLHHHHHHHHHHHHHHHLHHHHHHHHHHHHHHHLHHH -/ERD HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLHHHHHHHHHHHHHHHHHH -/EWR HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLHH -/CSLATCH HHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHHLH - D0 ZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZZHZZZZZZZZZZZZZZZZZ - -PAL22V10 -Page : 3 - ggggg - A[19] HHHHH - A[18] HHHHH - A[17] LLHHH - A[16] LHLHH -/STROBE LLLLH -/RD HHHHH -/WR LLLLH -/CSPWM HHHHH -/ERD HHHHH -/EWR HHHHH -/CSLATCH HHHHH - D0 ZZZZZ - -PAL22V10 -Page : 4 - - ggg - A[19] HHH - A[18] LLL - A[17] HHH - A[16] LLL -/STROBE LLH -/RD LLH -/WR HHH -/CSPWM HHH -/ERD HHH -/EWR HHH -/CSLATCH HHH - D0 HLZ - REFPOS HLL - -PAL22V10 -Page : 5 - - gc gc gc gc - CLOCK LHHLLHHLLHHLLHHL - D0 HHHHLLLLHHHHLLLL - D1 HHHHHHHHLLLLLLLL - BRAKE LLHHHHLLLLLLLLLL - PWMEN LLLLLLLLLLHHHHLL - -PAL22V10 -Page : 6 - - gc ggc g - PWMEN LLLLLLLHHH - PWM LLLLHLLLLH - DRVA LLLLLLLHHL - DRVB LLLLLLLLLH - diff --git a/pld/decoder.xpt b/pld/decoder.xpt deleted file mode 100644 index a75776d..0000000 --- a/pld/decoder.xpt +++ /dev/null @@ -1,172 +0,0 @@ - -PALASM4 PAL ASSEMBLER - MARKET RELEASE 1.5a (8-20-92) - (C) - COPYRIGHT ADVANCED MICRO DEVICES INC., 1992 - - -TITLE :DECODER.PDS AUTHOR :Walter Fetter Lages -PATTERN :A COMPANY:UFRGS -REVISION:1.0 DATE :10/10/02 - -PAL22V10 -DECODER - - 11 1111 1111 2222 2222 2233 3333 3333 4444 - 0123 4567 8901 2345 6789 0123 4567 8901 2345 6789 0123 - -0 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX - -1 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- -2 ---- X--- -X-- X--- -X-- -X-- ---- ---- ---- -X-- ---- -3 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -4 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -5 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -6 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -7 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -8 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -9 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX - -10 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- -11 ---- X--- -X-- -X-- -X-- ---- ---- ---- ---- -X-- ---- -12 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -13 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -14 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -15 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -16 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -17 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -18 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -19 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -20 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX - -21 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- -22 ---- X--- -X-- -X-- X--- ---- -X-- ---- ---- -X-- ---- -23 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -24 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -25 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -26 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -27 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -28 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -29 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -30 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -31 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -32 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -33 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX - -34 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- -35 ---- X--- -X-- -X-- X--- -X-- ---- ---- ---- -X-- ---- -36 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -37 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -38 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -39 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -40 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -41 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -42 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -43 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -44 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -45 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -46 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -47 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -48 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX - -49 ---- X--- -X-- X--- -X-- ---- -X-- ---- ---- -X-- ---- -50 ---- ---- ---- ---- ---- ---- ---- ---- X--- ---- ---- -51 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -52 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -53 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -54 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -55 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -56 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -57 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -58 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -59 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -60 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -61 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -62 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -63 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -64 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -65 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX - -66 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- -67 ---- ---- ---- ---- --X- ---- ---- -X-- ---- ---- ---- -68 ---- ---- ---- ---- ---- ---X ---- X--- ---- ---- ---- -69 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -70 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -71 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -72 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -73 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -74 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -75 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -76 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -77 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -78 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -79 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -80 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -81 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -82 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX - -83 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- -84 ---- ---- ---- ---- --X- ---- ---- X--- ---- ---- ---- -85 ---- ---- ---- ---- ---- ---- ---X -X-- ---- ---- ---- -86 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -87 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -88 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -89 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -90 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -91 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -92 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -93 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -94 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -95 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -96 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -97 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX - -98 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- -99 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- --X- -100 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -101 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -102 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -103 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -104 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -105 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -106 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -107 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -108 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -109 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -110 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX - -111 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- -112 ---- ---- ---- ---- ---- ---X ---- ---- ---- ---- -X-- -113 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -114 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -115 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -116 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -117 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -118 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -119 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -120 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -121 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX - -122 ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- ---- -123 ---- ---- ---- ---- ---- ---X ---- ---- ---- ---- X--- -124 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -125 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -126 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -127 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -128 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -129 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX -130 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX - -131 XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX XXXX - - SUMMARY - ------- - - OUTPUT PINS: 1111112222 - 4567890123 - POLARITY FUSES: --XX--XXXX - - OUTPUT PINS: 1111112222 - 4567890123 - REG BYPASS FUSES: ---XX----- - - TOTAL FUSES BLOWN = 937 - diff --git a/pld/palasm2.tre b/pld/palasm2.tre deleted file mode 100644 index 2e43bc2..0000000 --- a/pld/palasm2.tre +++ /dev/null @@ -1,1852 +0,0 @@ -Decoder1.pds NNNNNX -1 223 -1 85 DECODER.PDS -1 86 A -1 87 1.0 -1 88 Walter Fetter Lages -1 89 UFRGS -1 90 10/10/02 --2 -2 -1 60 -2 1 DECODER -2 166 24 -2 1 CLOCK -2 1 A[19] -2 1 A[18] -2 1 A[17] -2 1 A[16] -2 18 -3 1 WR -2 18 -3 1 RD -2 1 D1 -2 1 REFPOS -2 18 -3 1 STROBE -2 1 PWM -2 75 -2 1 TRINT -2 1 DRVB -3 24 -2 1 DRVA -3 24 -2 18 -3 1 EXTINT -4 24 -2 18 -3 1 BRAKE -4 10 -2 1 PWMEN -3 10 -2 1 D0 -3 24 -2 18 -3 1 EWR -4 24 -2 18 -3 1 ERD -4 24 -2 18 -3 1 CSPWM -4 24 -2 18 -3 1 CSLATCH -4 24 -2 74 -2 73 --3 -3 -3 65 -3 24 -4 1 EXTINT -4 1 TRINT -3 24 -4 1 CSPWM -4 17 -5 1 STROBE -5 17 -6 1 A[19] -6 17 -7 18 -8 1 A[18] -7 17 -8 18 -9 1 A[17] -8 18 -9 1 A[16] -3 24 -4 1 ERD -4 17 -5 1 STROBE -5 17 -6 1 RD -6 17 -7 1 A[19] -7 17 -8 18 -9 1 A[18] -8 17 -9 18 -10 1 A[17] -9 1 A[16] -3 24 -4 1 EWR -4 17 -5 1 STROBE -5 17 -6 1 WR -6 17 -7 1 A[19] -7 17 -8 18 -9 1 A[18] -8 17 -9 18 -10 1 A[17] -9 1 A[16] -3 24 -4 1 CSLATCH -4 17 -5 1 STROBE -5 17 -6 1 WR -6 17 -7 1 A[19] -7 17 -8 18 -9 1 A[18] -8 17 -9 1 A[17] -9 18 -10 1 A[16] -3 24 -4 53 -5 1 D0 -4 17 -5 1 STROBE -5 17 -6 1 RD -6 17 -7 1 A[19] -7 17 -8 18 -9 1 A[18] -8 17 -9 1 A[17] -9 18 -10 1 A[16] -3 24 -4 1 D0 -4 1 REFPOS -3 10 -4 1 PWMEN -4 16 -5 17 -6 1 D0 -6 18 -7 1 D1 -5 17 -6 1 PWMEN -6 1 D1 -3 10 -4 1 BRAKE -4 16 -5 17 -6 1 D0 -6 1 D1 -5 17 -6 1 BRAKE -6 18 -7 1 D1 -3 24 -4 1 DRVA -4 17 -5 1 PWMEN -5 18 -6 1 PWM -3 24 -4 1 DRVB -4 17 -5 1 PWMEN -5 1 PWM --5 -5 -4 71 -4 45 -5 1 TRINT -5 1 EXTINT -4 48 -5 1 TRINT -4 47 -5 1 EXTINT -4 48 -5 18 -6 1 TRINT -4 47 -5 18 -6 1 EXTINT -4 46 -4 45 -5 1 A[19] -5 1 A[18] -5 1 A[17] -5 1 A[16] -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 1 D0 -4 48 -5 18 -6 1 A[19] -5 18 -6 1 A[18] -5 18 -6 1 A[17] -5 18 -6 1 A[16] -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 18 -6 1 A[18] -5 18 -6 1 A[17] -5 1 A[16] -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 18 -6 1 A[18] -5 1 A[17] -5 18 -6 1 A[16] -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 18 -6 1 A[18] -5 1 A[17] -5 1 A[16] -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 1 A[18] -5 18 -6 1 A[17] -5 18 -6 1 A[16] -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 1 A[18] -5 18 -6 1 A[17] -5 1 A[16] -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 1 A[18] -5 1 A[17] -5 18 -6 1 A[16] -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 1 A[18] -5 1 A[17] -5 1 A[16] -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 18 -6 1 A[18] -5 18 -6 1 A[17] -5 18 -6 1 A[16] -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 18 -6 1 A[18] -5 18 -6 1 A[17] -5 1 A[16] -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 18 -6 1 A[18] -5 1 A[17] -5 18 -6 1 A[16] -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 18 -6 1 A[18] -5 1 A[17] -5 1 A[16] -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 1 A[18] -5 18 -6 1 A[17] -5 18 -6 1 A[16] -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 1 A[18] -5 18 -6 1 A[17] -5 1 A[16] -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 1 A[18] -5 1 A[17] -5 18 -6 1 A[16] -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 1 A[18] -5 1 A[17] -5 1 A[16] -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 18 -6 1 A[18] -5 18 -6 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 18 -6 1 A[18] -5 18 -6 1 A[17] -5 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 18 -6 1 A[18] -5 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 18 -6 1 A[18] -5 1 A[17] -5 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 1 A[18] -5 18 -6 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 1 A[18] -5 18 -6 1 A[17] -5 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 1 A[18] -5 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 1 A[18] -5 1 A[17] -5 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 18 -6 1 A[18] -5 18 -6 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 18 -6 1 A[18] -5 18 -6 1 A[17] -5 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 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-5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 18 -6 1 A[18] -5 18 -6 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 18 -6 1 A[18] -5 18 -6 1 A[17] -5 1 A[16] -5 1 STROBE -5 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 18 -6 1 A[18] -5 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 18 -6 1 A[18] -5 1 A[17] -5 1 A[16] -5 1 STROBE -5 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 1 A[18] -5 18 -6 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 1 A[18] -5 18 -6 1 A[17] -5 1 A[16] -5 1 STROBE -5 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 1 A[18] -5 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 1 A[18] -5 1 A[17] -5 1 A[16] -5 1 STROBE -5 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 18 -6 1 A[18] -5 18 -6 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 1 RD -5 18 -6 1 WR -4 47 -5 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 18 -6 1 A[18] -5 18 -6 1 A[17] -5 1 A[16] -5 1 STROBE -5 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 18 -6 1 A[18] -5 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 1 RD -5 18 -6 1 WR -5 1 REFPOS -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 1 D0 -4 48 -5 1 A[19] -5 18 -6 1 A[18] -5 1 A[17] -5 1 A[16] -5 1 STROBE -5 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 1 A[18] -5 18 -6 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 1 A[18] -5 18 -6 1 A[17] -5 1 A[16] -5 1 STROBE -5 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 1 A[18] -5 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 1 A[18] -5 1 A[17] -5 1 A[16] -5 1 STROBE -5 1 RD -5 18 -6 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 18 -6 1 A[18] -5 18 -6 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 18 -6 1 A[18] -5 18 -6 1 A[17] -5 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 18 -6 1 A[18] -5 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 18 -6 1 A[18] -5 1 A[17] -5 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 1 A[18] -5 18 -6 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 1 A[18] -5 18 -6 1 A[17] -5 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 1 A[18] -5 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 A[19] -5 1 A[18] -5 1 A[17] -5 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 18 -6 1 A[18] -5 18 -6 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 1 WR -4 47 -5 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 18 -6 1 A[18] -5 18 -6 1 A[17] -5 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 18 -6 1 A[18] -5 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 18 -6 1 A[18] -5 1 A[17] -5 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 1 A[18] -5 18 -6 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 1 A[18] -5 18 -6 1 A[17] -5 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 1 A[18] -5 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 1 A[19] -5 1 A[18] -5 1 A[17] -5 1 A[16] -5 1 STROBE -5 18 -6 1 RD -5 1 WR -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 351 -6 1 D0 -4 48 -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 46 -4 45 -5 1 A[19] -5 1 A[18] -5 1 A[17] -5 1 A[16] -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 1 D0 -5 1 REFPOS -4 48 -5 1 A[19] -5 18 -6 1 A[18] -5 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 1 RD -5 18 -6 1 WR -5 1 REFPOS -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 1 D0 -4 48 -5 1 A[19] -5 18 -6 1 A[18] -5 1 A[17] -5 18 -6 1 A[16] -5 1 STROBE -5 1 RD -5 18 -6 1 WR -5 18 -6 1 REFPOS -4 47 -5 18 -6 1 CSPWM -5 18 -6 1 ERD -5 18 -6 1 EWR -5 18 -6 1 CSLATCH -5 18 -6 1 D0 -4 48 -5 18 -6 1 STROBE -5 18 -6 1 RD -5 18 -6 1 WR -4 46 -4 45 -5 1 CLOCK -5 1 D0 -5 1 D1 -5 1 BRAKE -5 1 PWMEN -4 48 -5 1 D0 -5 1 D1 -4 42 -5 1 CLOCK -4 47 -5 1 BRAKE -5 18 -6 1 PWMEN -4 48 -5 18 -6 1 D0 -5 1 D1 -4 42 -5 1 CLOCK -4 47 -5 18 -6 1 BRAKE -5 18 -6 1 PWMEN -4 48 -5 1 D0 -5 18 -6 1 D1 -5 18 -6 1 PWM -4 42 -5 1 CLOCK -4 47 -5 18 -6 1 BRAKE -5 1 PWMEN -5 1 DRVA -5 18 -6 1 DRVB -4 48 -5 18 -6 1 D0 -5 18 -6 1 D1 -5 18 -6 1 PWM -4 42 -5 1 CLOCK -4 47 -5 18 -6 1 BRAKE -5 18 -6 1 PWMEN -5 18 -6 1 DRVA -5 18 -6 1 DRVB -4 46 -4 45 -5 1 PWMEN -5 1 PWM -5 1 DRVA -5 1 DRVB -4 48 -5 18 -6 1 PWM -5 18 -6 1 D1 -5 18 -6 1 D0 -4 42 -5 1 CLOCK -4 47 -5 18 -6 1 DRVA -5 18 -6 1 DRVB -5 18 -6 1 PWMEN -4 48 -5 1 PWM -4 47 -5 18 -6 1 DRVA -5 18 -6 1 DRVB -5 18 -6 1 PWMEN -4 48 -5 18 -6 1 PWM -5 18 -6 1 D1 -5 1 D0 -4 42 -5 1 CLOCK -4 47 -5 1 DRVA -5 18 -6 1 DRVB -5 1 PWMEN -4 48 -5 1 PWM -4 47 -5 18 -6 1 DRVA -5 1 DRVB -5 1 PWMEN -4 46 --6 -6 --9 -9 diff --git a/serialtest/Makefile b/serialtest/Makefile new file mode 100644 index 0000000..e6a2659 --- /dev/null +++ b/serialtest/Makefile @@ -0,0 +1,17 @@ +AICLIB+=-ldebug + +all: serialtest.hex + +serialtest.o:serialtest.c + $(CC) $(CPU) -x c -c $^ $(CCINCDIR) -I. $(CCFLAGS) + +serialtest:serialtest.o + $(CC) $(CPU) $^ -o $@ $(CCLIBDIR) $(AICLIBDIR) -Wl $(CCGLDFILE) $(AICLIB) + +serialtest.hex:serialtest + $(CCBIN2HEX) $^ +clean: + rm -f *.o serialtest *~ + +distclean:clean + rm -f serialtest.hex \ No newline at end of file diff --git a/serialtest/serialtest.c b/serialtest/serialtest.c new file mode 100644 index 0000000..13c0f17 --- /dev/null +++ b/serialtest/serialtest.c @@ -0,0 +1,64 @@ +/****************************************************************************** + + Actuator Interface Card + Serial Lib test + Copyright (C) 2008 Diego Caberlon Santini . + +******************************************************************************* +2008.06.13 -> Start test by Diego Caberlon Santini +* Send some string to UART! +*/ + +#include +#include "serial.h" +#include + +/*---------------------------------------------------------------------------*/ +_FOSC(EC_PLL16 & CSW_FSCM_OFF); //Config OSC to internal RC osc 7.37MHz +_FWDT(WDT_OFF); +_FBORPOR(MCLR_EN & RST_IOPIN & PBOR_OFF & PWRT_64); +/*---------------------------------------------------------------------------*/ + +int main() +{ + char *name; + char *name1; + char *name2; + + name="Diego é o cara\n"; + name1="Diego é o cara ******************************************\n\n"; + name2="Diego é o cara &&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&\n\n"; + + //set PORTE just to check if the program is running + TRISE=0x0; + PORTE=0x02; + + serial_init(); + + serial_write(name,strlen(name)); + serial_write(name1,strlen(name1)); + serial_write(name2,strlen(name2)); + + + for(;;){ + + } + +} diff --git a/sputtering/Makefile b/sputtering/Makefile deleted file mode 100644 index 8098207..0000000 --- a/sputtering/Makefile +++ /dev/null @@ -1,16 +0,0 @@ -all: sputtering - -sputtering: sputtering.cpp ../include/aic.h ../lib/libaic.a - ${CXX} ${CMPFLAGS} -o sputtering sputtering.cpp ${LDFLAGS} - -../lib/libaic.a: - $(MAKE) -C ../lib - -clean: - rm -f *~ *.bak *.o - -install: - -distclean: clean - rm -f sputtering *.dat - diff --git a/sputtering/sputtering.cpp b/sputtering/sputtering.cpp deleted file mode 100644 index f4df237..0000000 --- a/sputtering/sputtering.cpp +++ /dev/null @@ -1,64 +0,0 @@ -/****************************************************************************** - - Actuator Interface Card - AIC Sputtering Controller - Copyright (C) 2007 Walter Fetter Lages - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. - - You can also obtain a copy of the GNU General Public License - at . - -*******************************************************************************/ - -#include -using namespace std; -#include - -#include - -int main(int argc,char *argv[]) -{ - -/* if(argc != 5) - { - cout << "Sputtering Controller\n"; - cout << "Copyright (C) 2007 Walter Fetter Lages .\n"; - cout << " 2007 Diego Caberlon Santini .\n"; - cout << "\tor\n\t" << argv[0] << " aic1 status_port1 aic2 status_port2\n"; - return -1; - } -*/ - SPUTTERING sputtering0(argv[1],atoi(argv[2])); -// SPUTTERING sputtering1(argv[3],atoi(argv[4])); - - sputtering0.reset(); -// sputtering1.reset(); - cout <<"Reset\n"; - sputtering0.reference(M_PI*300/180); -// sputtering1.reference(M_PI*300/180); - cout <<"Positioning at 300 degrees\n"; - sputtering0.shutter(1000000); -// sputtering1.shutter(1000000); - cout <<"open for 1s\n"; - sputtering0.reference(M_PI*60/180); -// sputtering1.reference(M_PI*60/180); - cout <<"Positioning at 60 degrees\n"; - sputtering0.shutter(2000000); -// sputtering1.shutter(2000000); - cout <<"Open for 2s\n"; - - return 0; -}